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CN116495177A - Construction base layer cleaning method, construction base layer cleaning system, storage medium and intelligent terminal - Google Patents

Construction base layer cleaning method, construction base layer cleaning system, storage medium and intelligent terminal Download PDF

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Publication number
CN116495177A
CN116495177A CN202310446890.8A CN202310446890A CN116495177A CN 116495177 A CN116495177 A CN 116495177A CN 202310446890 A CN202310446890 A CN 202310446890A CN 116495177 A CN116495177 A CN 116495177A
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unmanned aerial
article
aerial vehicles
carrying
weight value
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陈春雷
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Ningbo Wantai Construction Engineering Co ltd
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Ningbo Wantai Construction Engineering Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
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Abstract

The application relates to a construction basic unit cleaning method, system, storage medium and intelligent terminal, relates to the field of building construction, and it includes: acquiring a current region image of a current base layer region; matching the characteristics of the transported objects corresponding to the area images according to the transported database; if the carried object features are not included in the unmanned aerial vehicle carried features, marking the carried object features in the area image as hoisting points; if the carried object feature is contained in the unmanned aerial vehicle carried feature, marking the carried object feature in the area image as a carried point; and carrying the articles to a preset placement area by controlling a preset unmanned aerial vehicle according to the carrying point. This application has the effect that improves cleaning efficiency, improves the security of clearance.

Description

Construction base layer cleaning method, construction base layer cleaning system, storage medium and intelligent terminal
Technical Field
The application relates to the field of building construction, in particular to a construction base layer cleaning method, a construction base layer cleaning system, a storage medium and an intelligent terminal.
Background
In the construction process, the base layer is one of the important construction links.
In the prior art, after the construction is completed, the base layer can be cleaned up to the objects in the base layer, usually, large-sized objects can be hoisted by adopting a crane or can be shoveled out by adopting an excavator, and small-sized objects can be cleaned up by adopting a manual cleaning mode.
With respect to the related art in the above, the inventors consider that: in the construction basic unit, small-size article is cleared up through the mode that can adopt manual cleaning, and the mode of manual cleaning is not only efficient slowly, and danger coefficient is high simultaneously, still has the space of improvement.
Disclosure of Invention
In order to improve cleaning efficiency and cleaning safety, the application provides a construction base layer cleaning method, a construction base layer cleaning system, a storage medium and an intelligent terminal.
In a first aspect, the present application provides a method for cleaning a construction base layer, which adopts the following technical scheme:
a construction base layer cleaning method comprises the following steps:
acquiring a current region image of a current base layer region;
according to the comparison relation between the characteristics of the carried articles stored in the preset carrying database and the regional images, matching the characteristics of the carried articles corresponding to the regional images;
judging whether the carried object characteristics are contained in preset unmanned aerial vehicle carried characteristics or not;
if the carried object features are not included in the unmanned aerial vehicle carried features, marking the carried object features in the area image as hoisting points;
if the carried object feature is contained in the unmanned aerial vehicle carried feature, marking the carried object feature in the area image as a carried point;
And carrying the articles to a preset placement area by controlling a preset unmanned aerial vehicle according to the carrying point.
Through adopting above-mentioned technical scheme, through the acquisition to regional image to know the image condition in the current region, and through the mode of image contrast, with the transport point of knowing transport article and transport article bodily form state. Through the knowledge to the transport point in order to carry through unmanned aerial vehicle, improved the improvement cleaning efficiency, the security of improvement clearance.
Optionally, in the base area, the unmanned aerial vehicle hoists articles of the carrying point, and the control method for the number and the position of the unmanned aerial vehicle includes:
acquiring an article volume value of an article of a carrying point in an area image and the total number of unmanned aerial vehicles in the current area image, wherein the total number of unmanned aerial vehicles comprises the number of idle unmanned aerial vehicles and the number of working unmanned aerial vehicles;
according to the comparison relation among the volume values of the articles, the number of the carrying unmanned aerial vehicles and the fixed points stored in the preset volume database, the number of the carrying unmanned aerial vehicles and the fixed points corresponding to the volume values of the articles are matched;
judging whether the number of the idle unmanned aerial vehicles is greater than or equal to the number of the carrying unmanned aerial vehicles;
if the number of the idle unmanned aerial vehicles is smaller than that of the unmanned aerial vehicles, judging whether the number of the carrying unmanned aerial vehicles exceeds the total number of the unmanned aerial vehicles or not;
If the number of the carrying unmanned aerial vehicles exceeds the total number of the unmanned aerial vehicles, prompting;
if the number of the carrying unmanned aerial vehicles does not exceed the total number of the unmanned aerial vehicles, waiting for the working unmanned aerial vehicles to finish the current task until the number of the idle unmanned aerial vehicles is equal to the number of the carrying unmanned aerial vehicles;
if the number of idle unmanned aerial vehicles is greater than or equal to the number of carrying unmanned aerial vehicles, controlling the unmanned aerial vehicles carrying the number of unmanned aerial vehicles to reach the fixed point of the article where the carrying point is located and carrying out fixed hoisting.
Through adopting above-mentioned technical scheme, through knowing the article volume value of transport point in the regional image, go on under to unmanned aerial vehicle total number again to thereby control unmanned aerial vehicle's quantity through article volume value, and know idle unmanned aerial vehicle, thereby support the transport, improve holistic conveying efficiency and security.
Optionally, the fixed point that the unmanned aerial vehicle of transport unmanned aerial vehicle quantity arrived the article at transport point place and carries out fixed hoist and mount, and unmanned aerial vehicle is to the hoist and mount method of transport point includes:
the article volume values are arranged in a reverse order to screen out the article with the largest article volume value in the base layer area, and the article is defined as a carried article; defining an article having the smallest article volume value in the base layer region as a stacked article;
According to a comparison relation between the number of the carrying unmanned aerial vehicles and the lifting weight value stored in a preset unmanned aerial vehicle lifting database, screening out the lifting weight value corresponding to the number of the carrying unmanned aerial vehicles;
acquiring the current article weight value and the current article material information of the hoisted article;
judging whether the pull-up weight value is larger than the article weight value or not;
if the pulling-up weight value is smaller than the article weight value, prompting;
if the pulling-up weight value is equal to the article weight value, controlling unmanned aerial vehicles corresponding to the quantity of the carrying unmanned aerial vehicles to carry the carried articles to a placement area;
if the pulling-up weight value is larger than the article weight value, matching the bearing weight value corresponding to the article material information and the article volume value according to the comparison relation among the article material information, the article volume value and the bearing weight value stored in the preset material database;
stacking the stacked objects onto the carried objects according to the bearing weight value, and judging whether the bearing weight value is smaller than the object weight value corresponding to the stacked objects;
if the bearing weight value is smaller than or equal to the article weight value corresponding to the stacked articles, controlling the unmanned aerial vehicles corresponding to the number of the unmanned aerial vehicles to convey the articles and the stacked articles to a placement area;
And if the bearing weight value is greater than the article weight value corresponding to the stacked articles, taking down the stacked articles from the carried articles so as to control the unmanned aerial vehicles corresponding to the number of the carrying unmanned aerial vehicles to carry the carried articles to the placement area.
Through adopting above-mentioned technical scheme, know through the maximum value to article volume to carry out preferential hoist and mount, and when the transport, stack the article of small, thereby improve holistic hoist and mount efficiency. Meanwhile, the weight value is known, so that the weight during hoisting is controlled under the condition of meeting the requirement, the number of hoisted articles at one time is increased, and the efficiency is improved.
Optionally, the bearing weight value is smaller than or equal to the weight value of the stacked article, and the method for placing the stacked article includes:
acquiring a current vacant volume space value on a carried article;
judging whether the volume of the stacked objects is smaller than the value of the vacant volume space or not;
if the volume of the stacked objects is smaller than the empty volume space value, stacking the stacked objects on the carried objects until the volume of the stacked objects is equal to the empty volume space value or until the sum of the bearing weight value and the object weight value corresponding to the stacked objects is consistent, so as to control the carrying objects to be carried to the placement area by the unmanned aerial vehicles corresponding to the number of the carrying unmanned aerial vehicles;
If the volume of the stacked objects is larger than the spare volume space value, prompting;
if the volume of the stacked objects is smaller than the value of the empty volume space and the bearing weight value is smaller than the sum of the object weight values corresponding to the stacked objects, judging whether the number of the idle unmanned aerial vehicles is smaller than the preset starting number;
if the number of the idle unmanned aerial vehicles is greater than or equal to the starting number, assigning unmanned aerial vehicles corresponding to the number of the idle unmanned aerial vehicles, and synchronously transporting at preset lifting points for carrying articles so as to update the pull-up weight value;
if the number of idle unmanned aerial vehicles is smaller than the starting number, judging whether the starting number exceeds the total number of unmanned aerial vehicles;
if the starting number exceeds the total number of the unmanned aerial vehicles, prompting is carried out, and the unmanned aerial vehicles corresponding to the number of the carrying unmanned aerial vehicles are controlled to carry the carried objects and the stacked objects to a placement area;
if the starting number does not exceed the total number of unmanned aerial vehicles, waiting for the working unmanned aerial vehicles to finish the current task until the number of idle unmanned aerial vehicles is equal to the starting number, and synchronously transporting at preset lifting points for carrying objects so as to update the pulling-up weight value.
Through adopting above-mentioned technical scheme, through knowing the spare volume space value to whether can continue to stack and know, also know unmanned aerial vehicle's condition simultaneously, under unmanned aerial vehicle draws the permission of rising weight value, under the sufficient circumstances of bearing capacity of transport article, the quantity of stacking is increased as far as possible, improves conveying efficiency.
Optionally, when the volume of the stacked objects is smaller than the value of the empty volume space, the stacking method for placing the stacked objects on the carried objects includes:
acquiring article volume form information of an article at a carrying point in the area image;
matching the article center of gravity corresponding to the article volume form information and the article material information according to the matching relation among the article volume form information, the article material information and the article center of gravity stored in the preset center database;
the method comprises the steps of inputting the gravity center of the articles for carrying the articles and the volume form information of the articles into a preset model database to calculate the placement position information of the stacked articles, and arranging the stacked articles in a reverse order according to the volume form information of the articles;
according to the stacked objects arranged in the reverse order, the stacked objects are sequentially placed on the carried objects, and whether the bearing weight value of the carried objects is larger than the sum of the object weight values corresponding to the stacked objects is judged;
if the bearing weight value of the carried article is larger than the sum of the article weight values corresponding to the stacked articles, the stacked articles are continuously placed;
and if the bearing weight value of the conveyed article is smaller than or equal to the sum of the article weight values corresponding to the stacked articles, taking down the placed article currently placed on the conveyed article, and controlling the unmanned aerial vehicle to convey the article to the placement area according to the conveying point.
Through adopting above-mentioned technical scheme, through knowing article volume form information and article material information to match out article focus, know the position of putting according to article focus again, the volume form information of the reverse order arrangement of cooperation simultaneously, thereby place many articles as far as possible, in order to improve holistic conveying efficiency. And under the condition of bearing the weight value, stacked articles are added, so that the transportation efficiency is further improved.
Optionally, when the unmanned aerial vehicle stacks the stacked objects onto the carried objects in a weight bearing value, the method for selecting the unmanned aerial vehicle to hoist the stacked objects includes:
acquiring current carrying position coordinates, current stacking position coordinates and current unmanned aerial vehicle position coordinates of a carried object;
according to the relation among the carrying position coordinates, the stacking position coordinates, the unmanned aerial vehicle position coordinates and the flight paths stored in a preset planning model database, the flight paths corresponding to the stacking position coordinates, the carrying position coordinates and the unmanned aerial vehicle position coordinates are calculated in a simulation mode;
sequentially arranging the flight paths in a reverse order, and defining the unmanned aerial vehicle corresponding to the shortest flight path as a first unmanned aerial vehicle;
Acquiring current state information of a first unmanned aerial vehicle;
judging whether the state information is consistent with a preset idle state or not;
if the state information is inconsistent with the idle state, prompting is carried out;
if the state information is consistent with the idle state, the first unmanned aerial vehicle is assigned to reach the stacking position coordinates, stacked objects are transported to the transporting position coordinates, and the first unmanned aerial vehicle is regenerated again;
judging whether the position coordinates of the adjacent unmanned aerial vehicles are smaller than a preset reference distance value or not;
if the position coordinates of the adjacent unmanned aerial vehicles are larger than or equal to the reference distance value, indicating;
if the position coordinates of the adjacent unmanned aerial vehicles are smaller than the reference distance value, the connection direction is obtained according to the carrying position coordinates and the position coordinates of the unmanned aerial vehicles, the carrying position coordinates are taken as the center point, and the unmanned aerial vehicles are controlled to deviate to the connection direction by a preset safety distance and then land on the ground.
Through adopting above-mentioned technical scheme, through the understanding to the coordinate to know unmanned aerial vehicle's position and the position of article. Through the understanding of the flight path, the unmanned aerial vehicle corresponding to the shortest flight path is known, and the idle state of the unmanned aerial vehicle is judged to control the unmanned aerial vehicle. And the unmanned aerial vehicle is reasonably used, so that the overall transportation efficiency is improved.
Optionally, the method for controlling the unloading position of the unmanned aerial vehicle comprises the following steps:
acquiring current wind direction detection information and wind force detection information;
calculating moving direction information according to the placement area and the carrying point;
according to the comparison relation among the moving direction information, the wind direction detection information, the wind force detection information and the offset points stored in the preset offset database, the moving direction information, the wind direction detection information and the offset points corresponding to the wind force detection information are matched;
correcting a stop point preset above the placement area according to the offset point, and controlling the unmanned aerial vehicle to discharge at the updated stop point.
Through adopting above-mentioned technical scheme, through the understanding to wind-force and wind direction, understand unmanned aerial vehicle's discharge position again to the dock after unmanned aerial vehicle's the quilt is disturbed is updated, in order to reduce the influence of wind to the transportation, improves the security of transportation.
In a second aspect, the present application provides a construction base cleaning system, which adopts the following technical scheme:
a construction substrate cleaning system comprising:
the acquisition module is used for acquiring an area image, the total number of unmanned aerial vehicles, an article weight value, article material information, a vacant volume space value, article volume form information, a carrying position coordinate, a stacking position coordinate, unmanned aerial vehicle position coordinates, state information, wind direction detection information, wind force detection information, article volume form information and article weight value;
A memory for storing a program of the above-described construction base layer cleaning method;
and the processor is used for loading and executing the program in the memory by the processor and realizing the construction base layer cleaning method.
Through adopting above-mentioned technical scheme, through the acquisition to regional image to know the image condition in the current region, and through the mode of image contrast, with the transport point of knowing transport article and transport article bodily form state. Through the knowledge to the transport point in order to carry through unmanned aerial vehicle, improved the improvement cleaning efficiency, the security of improvement clearance.
In a third aspect, the present application provides a computer storage medium, capable of storing a corresponding program, having the characteristics of being convenient for realizing improvement of cleaning efficiency and improvement of cleaning safety, and adopting the following technical scheme:
a computer readable storage medium storing a computer program loadable by a processor and performing a method of cleaning a construction base layer as described above.
Through adopting above-mentioned technical scheme, through the acquisition to regional image to know the image condition in the current region, and through the mode of image contrast, with the transport point of knowing transport article and transport article bodily form state. Through the knowledge to the transport point in order to carry through unmanned aerial vehicle, improved the improvement cleaning efficiency, the security of improvement clearance.
In a fourth aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
an intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute a construction base layer cleaning method.
Through adopting above-mentioned technical scheme, through the acquisition to regional image to know the image condition in the current region, and through the mode of image contrast, with the transport point of knowing transport article and transport article bodily form state. Through the knowledge to the transport point in order to carry through unmanned aerial vehicle, improved the improvement cleaning efficiency, the security of improvement clearance.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the cleaning efficiency is improved, and the cleaning safety is improved;
2. the service efficiency and the safety of the unmanned aerial vehicle are improved.
Drawings
FIG. 1 is a flow chart of a method of construction base layer cleaning.
Fig. 2 is a flow chart of a method of controlling the number and location of drones.
Fig. 3 is a flow chart of a method for lifting a handling point by a drone.
Fig. 4 is a flowchart of a method of placing stacked articles.
Fig. 5 is a flowchart of a stacking method in which stacked articles are placed on a conveyed article.
Fig. 6 is a flowchart of a method of selecting a stacked item for unmanned aerial vehicle lifting.
Fig. 7 is a flow chart of a method of controlling the position of the discharge of the drone.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to fig. 1 to 7 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The embodiment of the application discloses construction basic unit clearance method judges the material through unmanned aerial vehicle to will transport through unmanned aerial vehicle's article that carries out the transportation, improve transportation efficiency, improve the security of transportation.
Referring to fig. 1, a construction base layer cleaning method includes the steps of:
step 100: and acquiring a current region image of the current base layer region.
And a plurality of cameras are installed in the construction site, detect the base layer area, generate images, and combine the images to generate an image of the whole area.
Step 101: according to the comparison relation between the characteristics of the carried articles stored in the preset carrying database and the area images, the characteristics of the carried articles corresponding to the area images are matched.
The carrying database is a preset database, carrying article characteristics and area images are stored in the carrying database, and the area images are input into the carrying database, so that carrying article characteristics corresponding to the area images are matched from the carrying database.
The characteristics of the carried objects are the objects corresponding to the images, and the conditions of the objects in the images are distinguished through the identification of the objects.
Step 102: and judging whether the carried object characteristics are contained in preset unmanned aerial vehicle carried characteristics.
By judging whether the carried object feature contains the unmanned aerial vehicle carried feature or not, whether carrying is needed or not is known. The unmanned aerial vehicle carrying characteristics are preset characteristic data, and are preset by staff.
The articles corresponding to the carrying characteristics of the unmanned aerial vehicle are articles which can be carried by the unmanned aerial vehicle.
Step 1030: if the carried object feature is not included in the unmanned aerial vehicle carried feature, the carried object feature in the marked area image is a hoisting point.
If the carried object feature does not include the unmanned aerial vehicle carrying feature, it means that the unmanned aerial vehicle does not need to carry the carried object, the carried object is large, and the carried object needs to be hoisted through hoisting equipment, so that the carried object feature in the marked area image is a hoisting point.
Step 1031: if the transport object feature is included in the unmanned aerial vehicle transport feature, the transport object feature in the marker region image is a transport point.
If the carried article feature is included in the unmanned aerial vehicle carried feature, the carried article can be transported through the unmanned aerial vehicle, so that the carried article feature in the marked area image is a carried point and is stored for later retrieval and use.
Step 104: and carrying the articles to a preset placement area by controlling a preset unmanned aerial vehicle according to the carrying point.
After knowing the transport point, control unmanned aerial vehicle carries the article on the transport point to in the transport is placed the region, wherein, place the region and be the position of predetermineeing, set up according to actual conditions by the staff, not repeated here.
Referring to fig. 2, in a base area, an unmanned aerial vehicle hoists an article at a carrying point, and a control method for the number and position of unmanned aerial vehicles includes the steps of:
step 200: and acquiring the article volume value of the article of the carrying point in the area image and the total number of unmanned aerial vehicles in the current area image, wherein the total number of unmanned aerial vehicles comprises the number of idle unmanned aerial vehicles and the number of working unmanned aerial vehicles.
Acquiring an article volume value of an article at a carrying point in the area image through a camera, and budgeting the article volume value when the article volume value is acquired through the whole article so as to realize data output; unmanned aerial vehicles in the regional image are identified through the camera, so that the total number of unmanned aerial vehicles is obtained.
Wherein, unmanned aerial vehicle total number is including idle unmanned aerial vehicle quantity and work unmanned aerial vehicle quantity, discerns unmanned aerial vehicle's signal through the receiver to distinguish unmanned aerial vehicle's operating condition, know that unmanned aerial vehicle belongs to idle unmanned aerial vehicle promptly, still work unmanned aerial vehicle.
Step 201: according to the comparison relation among the volume values of the articles, the number of the carrying unmanned aerial vehicles and the fixed points stored in the preset volume database, the number of the carrying unmanned aerial vehicles and the fixed points corresponding to the volume values of the articles are matched.
The volume database is a preset database, and the volume database stores the volume value of the article, the number of the carrying unmanned aerial vehicles and a fixed point. The fixed point supplies unmanned aerial vehicle to carry out the point of connection to realize the transportation to article.
The article volume value is input into the volume database, so that the number of the carrying unmanned aerial vehicles corresponding to the article volume value and the fixed point are matched from the volume database. And the number of the carrying unmanned aerial vehicles is the number required by the unmanned aerial vehicles when the articles corresponding to the volume values of the articles need to be carried.
Step 2030: if the number of idle unmanned aerial vehicles is smaller than the number of unmanned aerial vehicles, judging whether the number of carrying unmanned aerial vehicles exceeds the total number of unmanned aerial vehicles.
If the number of idle unmanned aerial vehicles is smaller than the number of unmanned aerial vehicles, the idle unmanned aerial vehicles are not more, so that whether the number of the carrying unmanned aerial vehicles exceeds the total number of the unmanned aerial vehicles is judged, and whether the carrying requirement is met is known.
Step 2040: if the number of the carrying unmanned aerial vehicles exceeds the total number of the unmanned aerial vehicles, prompting is carried out.
If the number of carrying unmanned aerial vehicles exceeds the total number of unmanned aerial vehicles, the number of the carrying unmanned aerial vehicles is insufficient, and therefore prompt is carried out, and accordingly staff are informed.
Step 2041: if the number of the carrying unmanned aerial vehicles does not exceed the total number of the unmanned aerial vehicles, waiting for the working unmanned aerial vehicles to finish the current task until the number of the idle unmanned aerial vehicles is equal to the number of the carrying unmanned aerial vehicles.
If the number of carrying unmanned aerial vehicles does not exceed the total number of unmanned aerial vehicles, the number of the unmanned aerial vehicles meets the requirement, the working unmanned aerial vehicles wait for completing the current task at the moment, the working unmanned aerial vehicles can be converted into idle unmanned aerial vehicles after completing the current task, and the number of the idle unmanned aerial vehicles is increased at the moment. When the number of idle unmanned aerial vehicles is equal to that of carrying unmanned aerial vehicles, the carrying requirement is met.
Step 2031: if the number of idle unmanned aerial vehicles is greater than or equal to the number of carrying unmanned aerial vehicles, controlling the unmanned aerial vehicles carrying the number of unmanned aerial vehicles to reach the fixed point of the article where the carrying point is located and carrying out fixed hoisting.
If the number of idle unmanned aerial vehicles is greater than or equal to the number of carrying unmanned aerial vehicles, the number of unmanned aerial vehicles is enough, the unmanned aerial vehicles controlling the number of carrying unmanned aerial vehicles reach the carrying point at the moment, and fixed hoisting is carried out on the fixed point of the article.
Referring to fig. 3, the article volume values are arranged in a reverse order, so that the article with the largest article volume value in the base layer area is selected, and is defined as a carrying article, and the carrying article is carried by the unmanned aerial vehicle. The article having the smallest article volume value in the base layer region is defined as a stacked article. The stacked articles are placed on the conveyed articles, thereby realizing synchronous transportation.
The unmanned aerial vehicle for carrying the quantity of unmanned aerial vehicles reaches a fixed point of an article where a carrying point is located and is fixedly hoisted, and the hoisting method of the unmanned aerial vehicle for the carrying point comprises the following steps:
step 300: according to the comparison relation between the number of the carrying unmanned aerial vehicles and the lifting weight value stored in the preset unmanned aerial vehicle lifting database, the lifting weight value corresponding to the number of the carrying unmanned aerial vehicles is screened out.
The unmanned aerial vehicle lifting database is a preset database, and the number and the lifting weight value of the carrying unmanned aerial vehicles are stored in the unmanned aerial vehicle lifting database. Through with carrying unmanned aerial vehicle quantity input to unmanned aerial vehicle and pull up in the database to match out the weight value that pulls up that carries unmanned aerial vehicle quantity corresponds in the database that pulls up from unmanned aerial vehicle.
The pulling-up weight value is the condition of the weight of the unmanned plane to the article.
Step 301: and acquiring the current article weight value and the current article material information of the hoisted article.
The material information of the article is obtained through the camera, and the material is judged to obtain the material information of the article.
The article weight value is obtained through a weighing sensor, the weighing sensor is installed on the unmanned aerial vehicle, and when the unmanned aerial vehicle is used for hoisting the article, the article is pre-lifted, so that the article weight value of the article is obtained.
Step 302: and judging whether the pull-up weight value is larger than the article weight value.
When the article is lifted, judging whether the lifting weight value is larger than the article weight value.
Step 3030: and if the pull-up weight value is smaller than the article weight value, prompting.
If the pulling-up weight value is smaller than the article weight value, the unmanned aerial vehicle can not pull up the article and can not realize carrying, so that prompt is carried out.
Step 3031: if the pulling-up weight value is equal to the article weight value, controlling unmanned aerial vehicles corresponding to the quantity of the carrying unmanned aerial vehicles to carry the carried articles to the placement area.
If the pulling-up weight value is equal to the article weight value, the lifting and the transportation can be performed at the moment, so that the unmanned aerial vehicles corresponding to the number of the unmanned aerial vehicles are controlled to carry the carried articles, and meanwhile, the unmanned aerial vehicles are carried into the appointed placement area.
Step 3032: if the pulling-up weight value is larger than the article weight value, the bearing weight value corresponding to the article material information and the article volume value is matched according to the comparison relation among the article material information, the article volume value and the bearing weight value stored in the preset material database.
If the pull-up weight value is greater than the article weight value, this means that the weight can also be increased.
The material database is a preset database, and the material database stores material information, volume value and bearing weight value of the articles. The material information and the volume value of the article are input into the material database, so that the bearing weight value corresponding to the material information and the volume value of the article is matched from the material database.
The bearing weight value is the weight condition that other articles can be placed on the articles.
Step 304: and stacking the stacked objects onto the carrying objects according to the bearing weight value, and judging whether the bearing weight value is smaller than the object weight value corresponding to the stacked objects.
And stacking the stacked objects on the carrying objects according to the bearing weight value, and judging whether the bearing weight value is smaller than the object weight value corresponding to the stacked objects again.
Step 3050: and if the bearing weight value is smaller than or equal to the article weight value corresponding to the stacked articles, controlling the unmanned aerial vehicles corresponding to the number of the carrying unmanned aerial vehicles to carry the articles and the stacked articles to the placement area.
If the bearing weight value is smaller than or equal to the article weight value corresponding to the stacked articles, the placement can be continued, and at the moment, unmanned aerial vehicles corresponding to the number of the unmanned aerial vehicles are controlled to carry the carried articles and the stacked articles to the placement area.
Step 3051: and if the bearing weight value is greater than the article weight value corresponding to the stacked articles, taking down the stacked articles from the carried articles so as to control the unmanned aerial vehicles corresponding to the number of the carrying unmanned aerial vehicles to carry the carried articles to the placement area.
If the bearing weight value is larger than the article weight value corresponding to the stacked articles, the stacked articles are too many, so that the stacked articles are taken down from the conveyed articles, the pressure is relieved, and the unmanned aerial vehicles corresponding to the number of the unmanned aerial vehicles are controlled to convey the conveyed articles to the placing area.
Referring to fig. 4, the method for placing stacked articles includes the steps of:
Step 400: and acquiring the current vacant volume space value on the carried article.
The camera is installed on unmanned aerial vehicle, and unmanned aerial vehicle can know the condition in current region in real time when flying. And identifying the vacant volume space on the carried article through the camera, and outputting the value of the vacant volume space.
Step 401: and judging whether the volume of the stacked objects is smaller than the value of the vacant volume space.
And judging whether the volume of the stacked objects is smaller than the value of the vacant volume space, so as to know whether the objects can be placed continuously.
Step 4020: if the volume of the stacked objects is smaller than the empty volume space value, the stacked objects are controlled to be stacked on the conveyed objects until the volume of the stacked objects is equal to the empty volume space value or until the sum of the bearing weight value and the object weight value corresponding to the stacked objects is consistent, so that the unmanned aerial vehicles corresponding to the number of the conveyed unmanned aerial vehicles are controlled to convey the conveyed objects to the placement area.
If the volume of the stacked objects is smaller than the value of the empty volume space, the stacked objects are controlled to be stacked on the conveyed objects at the moment, and the stacked objects are indicated to be placed in a space until the volume of the stacked objects is equal to the value of the empty volume space, namely the stacked objects are placed fully.
When the stacked objects are controlled to be stacked on the conveyed objects, the placement is stopped when the sum of the weight bearing value and the object weight value corresponding to the stacked objects is consistent, and the unmanned aerial vehicles corresponding to the number of the unmanned aerial vehicles are controlled to convey the conveyed objects to the placement area.
Step 4021: and if the volume of the stacked objects is larger than the spare volume space value, prompting.
If the volume of the stacked objects is larger than the value of the vacant volume space, namely the volume of the stacked objects to be stacked is too large to be placed on the carried objects, prompting is carried out at the moment, and therefore staff are informed.
Step 4022: if the volume of the stacked objects is smaller than the value of the empty volume space and the bearing weight value is smaller than the sum of the object weight values corresponding to the stacked objects, judging whether the number of the idle unmanned aerial vehicles is smaller than the preset starting number.
Step 4030: if the number of idle unmanned aerial vehicles is greater than or equal to the starting number, unmanned aerial vehicles corresponding to the number of idle unmanned aerial vehicles are assigned, and are transported synchronously at preset lifting points for carrying objects, so that the pulling-up weight value is updated.
If the number of the idle unmanned aerial vehicles is greater than or equal to the starting number, the idle unmanned aerial vehicles can be used. At the moment, unmanned aerial vehicles corresponding to the number of idle unmanned aerial vehicles are assigned, and are transported synchronously at lifting points for carrying objects, so that the pulling-up weight value is updated. The lifting point is a preset lifting height position, and is set by a worker according to actual conditions, and details are omitted here.
Step 4031: if the number of idle unmanned aerial vehicles is smaller than the starting number, judging whether the starting number exceeds the total number of unmanned aerial vehicles.
If the number of idle unmanned aerial vehicles is smaller than the starting number, the current idle unmanned aerial vehicle is insufficient, and therefore whether the starting number exceeds the total number of unmanned aerial vehicles is judged.
Step 4040: if the starting quantity exceeds the total quantity of the unmanned aerial vehicles, prompting is carried out, and the unmanned aerial vehicles corresponding to the quantity of the carrying unmanned aerial vehicles are controlled to carry the carrying objects and the stacking objects to the placing area.
If the starting number exceeds the total number of unmanned aerial vehicles, the required unmanned aerial vehicle number is excessively large and cannot be met, so that prompt is carried out to inform staff.
Simultaneously, unmanned aerial vehicle that control transport unmanned aerial vehicle quantity corresponds carries to the region of placing to transport article and stacked object.
Step 4041: if the starting number does not exceed the total number of unmanned aerial vehicles, waiting for the working unmanned aerial vehicles to finish the current task until the number of idle unmanned aerial vehicles is equal to the starting number, and synchronously transporting at preset lifting points for carrying objects so as to update the pulling-up weight value.
If the starting number does not exceed the total number of the unmanned aerial vehicles, the number of the unmanned aerial vehicles is enough, so that the unmanned aerial vehicles wait for the work to finish the current task; after the working unmanned aerial vehicle completes the task, the working unmanned aerial vehicle can be converted into an idle unmanned aerial vehicle.
And when the number of the idle unmanned aerial vehicles is equal to the starting number, synchronously transporting at the lifting point for carrying the articles so as to update the pulling-up weight value. The lifting points for carrying the articles are preset positions, and are set by staff according to actual conditions, and are not described herein.
Referring to fig. 5, when the volume of the stacked objects is smaller than the value of the empty volume space, the stacking method for placing the stacked objects on the conveyed objects includes the following steps:
step 500: and acquiring the article volume form information of the article at the carrying point in the area image.
The camera is used for photographing the object, the object condition of the carrying point in the area image is known, and the object body shape information of the object is obtained through photographing the object, wherein the object volume shape information is the overall shape state of the object and comprises the shape, the placing state and the like of the object.
Step 501: and matching the article center of gravity corresponding to the article volume form information and the article material information according to the matching relation among the article volume form information, the article material information and the article center of gravity stored in the preset central database.
The central database is a preset database, and the volume form information, the material information and the gravity center of the article are stored in the central database. Wherein the center of gravity of the article is the center of gravity of the article, thereby keeping the article balanced.
And inputting the article volume form information and the article material information into a central database, so as to match the article center of gravity corresponding to the article volume form information and the article material information from the central database.
Step 502: the center of gravity of the articles for carrying the articles and the volume form information of the articles are input into a preset model database to calculate the placement position information of the stacked articles, and the stacked articles are arranged in a reverse order according to the volume form information of the articles.
The center of gravity of the article for carrying the article and the shape information of the volume of the article are input into a model database, wherein the model database is a preset database, and the model database is set by staff according to actual conditions and is not described herein.
The placement position information of the stacked objects is calculated through the model database, so that the influence on the center of gravity is reduced as much as possible. Meanwhile, the stacked objects are arranged in reverse order according to the volume form information of the objects.
Step 503: according to the stacked objects arranged in the reverse order, the stacked objects are sequentially placed on the carried objects, and whether the bearing weight value of the carried objects is larger than the sum of the object weight values corresponding to the stacked objects is judged.
According to the stacked objects arranged in the reverse order, the stacked objects are sequentially placed on the carrying objects in the order after the reverse order. After the goods are placed, whether the bearing weight value of the carried goods is larger than the sum of the goods weight values corresponding to the stacked goods is judged, so that the safety is improved.
Step 5040: if the bearing weight value of the carried article is larger than the sum of the article weight values corresponding to the stacked articles, the stacked articles are continuously placed.
If the weight of the stacked articles is greater than the sum of the weight values of the stacked articles, the stacked articles can be placed on the stacked articles continuously.
Step 5041: and if the bearing weight value of the conveyed article is smaller than or equal to the sum of the article weight values corresponding to the stacked articles, taking down the placed article currently placed on the conveyed article, and controlling the unmanned aerial vehicle to convey the article to the placement area according to the conveying point.
If the bearing weight value of the conveyed article is smaller than or equal to the sum of the article weight values corresponding to the stacked articles, the condition that the current weight is too large is indicated, the conveyed article cannot bear any more, in order to improve the safety of transportation, the placed article currently placed on the conveyed article is taken down, and the unmanned aerial vehicle is controlled to convey the article to the placement area according to the known conveying point.
Referring to fig. 6, when the unmanned aerial vehicle stacks the stacked objects onto the carried objects with the bearing weight value, the method for selecting the unmanned aerial vehicle to hoist the stacked objects includes the steps of:
Step 600: and acquiring the current carrying position coordinates, the current stacking position coordinates and the current unmanned aerial vehicle position coordinates of the carried objects.
The unmanned aerial vehicle is provided with the positioning chip, so that the position of the unmanned aerial vehicle is known, the position of the camera is also known, and the position coordinate of the unmanned aerial vehicle is output. The camera fixed on the ground is not moved in position, so the position of the camera is also known in advance.
The objects in different areas are identified through the cameras, and the cameras are matched with each other so as to know the carrying position coordinates of the carried objects and the stacking position coordinates of the stacked objects.
Step 601: according to the relation among the carrying position coordinates, the stacking position coordinates, the unmanned aerial vehicle position coordinates and the flight paths stored in a preset planning model database, the flight paths corresponding to the stacking position coordinates, the carrying position coordinates and the unmanned aerial vehicle position coordinates are calculated in a simulation mode.
The planning model database is a preset database, and the carrying position coordinates, the stacking position coordinates, the unmanned aerial vehicle position coordinates and the flight path are stored in the planning model database. The flight path is the flight path of the unmanned aerial vehicle.
The stacking position coordinates, the carrying position coordinates and the unmanned aerial vehicle position coordinates are input into a planning model database, so that flight paths corresponding to the stacking position coordinates, the carrying position coordinates and the unmanned aerial vehicle position coordinates are calculated through simulation from the planning model database. I.e., connect the coordinate points, thereby obtaining a path.
Step 602: and sequentially arranging the flight paths in a reverse order, and defining the unmanned aerial vehicle corresponding to the shortest flight path as a first unmanned aerial vehicle.
And sequentially arranging the flight paths in a reverse order, and defining the unmanned aerial vehicle corresponding to the shortest flight path as a first unmanned aerial vehicle.
Step 603: and acquiring current state information of the first unmanned aerial vehicle.
The unmanned aerial vehicle is informed of state information including an idle state and a working state by whether to perform tasks or not.
Step 604: and judging whether the state information is consistent with a preset idle state.
By knowing the status information of the first unmanned aerial vehicle, it is known whether the first unmanned aerial vehicle is in an idle state. Wherein the idle state is data preset by a worker.
Step 6050: and if the state information is inconsistent with the idle state, prompting.
If the state information is inconsistent with the idle state, the unmanned aerial vehicle is indicated to work, and prompt is carried out at the moment so as to inform staff.
Step 6051: if the state information is consistent with the idle state, the first unmanned aerial vehicle is assigned to reach the stacking position coordinates, stacked objects are transported to the transporting position coordinates, and the first unmanned aerial vehicle is rebuilt.
If the state information is consistent with the idle state, the first unmanned aerial vehicle is in the idle state, so that the first unmanned aerial vehicle is assigned to reach the stacking position coordinates, stacked objects are transported to the carrying position coordinates, and the first unmanned aerial vehicle needs to be regenerated at the moment.
Step 606: and judging whether the position coordinates of the adjacent unmanned aerial vehicles are smaller than a preset reference distance value.
Through whether be less than the benchmark distance value to adjacent unmanned aerial vehicle position coordinate to know the interval between the unmanned aerial vehicle. The reference distance value is a preset parameter, and is set by a worker according to actual conditions, which is not described herein.
Step 6070: and if the position coordinates of the adjacent unmanned aerial vehicles are larger than or equal to the reference distance value, indicating.
If the position coordinates of the adjacent unmanned aerial vehicles are larger than or equal to the reference distance value, the distance between the adjacent unmanned aerial vehicles meets the requirement, so that indication is performed to inform workers.
Step 6071: if the position coordinates of the adjacent unmanned aerial vehicles are smaller than the reference distance value, the connection direction is obtained according to the carrying position coordinates and the position coordinates of the unmanned aerial vehicles, the carrying position coordinates are taken as the center point, and the unmanned aerial vehicles are controlled to deviate to the connection direction by a preset safety distance and then land on the ground.
If the position coordinates of the adjacent unmanned aerial vehicles are smaller than the reference distance value, the distance between the adjacent unmanned aerial vehicles is too close, and the adjacent unmanned aerial vehicles are not in line with the requirements, so that adjustment is needed.
According to the carrying position coordinates and the unmanned aerial vehicle position coordinates, the connecting direction is obtained, the carrying position coordinates are taken as the center point, and the unmanned aerial vehicle is controlled to deviate to the connecting direction by a safe distance and then land on the ground so as to keep a safe enough distance. The safety distance is a preset distance, and is set by a worker according to actual conditions, which is not described herein.
Referring to fig. 7, the unmanned aerial vehicle hoisted articles are transported, and when the transportation is started, the unloading condition of the unmanned aerial vehicle is considered, and the unmanned aerial vehicle unloading position control method comprises the following steps:
step 700: and acquiring current wind direction detection information and wind force detection information.
The wind direction detection information and the wind force detection information are known through detection of a wind direction sensor and a wind force sensor installed on the site. The wind direction detection information is the direction of wind blowing, and the wind force detection information is the wind speed or the force condition of wind blowing.
Step 701: and calculating the moving direction information according to the placement area and the carrying point.
The positions of the placement area and the transfer point are known, so that the moving direction of the unmanned aerial vehicle is known, namely, the moving direction information is output.
Step 702: according to the comparison relation among the moving direction information, the wind direction detection information, the wind force detection information and the offset points stored in the preset offset database, the moving direction information, the wind direction detection information and the offset points corresponding to the wind force detection information are matched.
The offset database is a preset database, and the offset database stores moving direction information, wind direction detection information, wind force detection information and offset points. The offset point is the position that unmanned aerial vehicle needs to remove to make the article of hoist and mount can reach on the appointed position.
The moving direction information, the wind direction detection information and the wind force detection information are input into the offset database, so that offset points corresponding to the moving direction information, the wind direction detection information and the wind force detection information are matched from the offset database.
Step 703: correcting a stop point preset above the placement area according to the offset point, and controlling the unmanned aerial vehicle to discharge at the updated stop point.
According to the offset point, correcting the stop point preset above the placement area, controlling the unmanned aerial vehicle to stop at the updated stop point, and unloading the articles hoisted by the ropes for the unmanned aerial vehicle at the stop point.
Based on the same inventive concept, an embodiment of the present invention provides a construction base layer cleaning system, including:
the acquisition module is used for acquiring an area image, the total number of unmanned aerial vehicles, an article weight value, article material information, a vacant volume space value, article volume form information, a carrying position coordinate, a stacking position coordinate, unmanned aerial vehicle position coordinates, state information, wind direction detection information, wind force detection information, article volume form information and article weight value;
a memory for storing a program of the above-described construction base layer cleaning method;
and the processor is used for loading and executing the program in the memory by the processor and realizing the construction base layer cleaning method.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
Embodiments of the present invention provide a computer-readable storage medium storing a computer program that can be loaded by a processor and that performs a method of construction base layer cleaning.
The computer storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Based on the same inventive concept, the embodiment of the invention provides an intelligent terminal, which comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute a construction base layer cleaning method.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the application, in which any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.

Claims (10)

1. The construction base layer cleaning method is characterized by comprising the following steps of:
acquiring a current region image of a current base layer region;
according to the comparison relation between the characteristics of the carried articles stored in the preset carrying database and the regional images, matching the characteristics of the carried articles corresponding to the regional images;
judging whether the carried object characteristics are contained in preset unmanned aerial vehicle carried characteristics or not;
if the carried object features are not included in the unmanned aerial vehicle carried features, marking the carried object features in the area image as hoisting points;
if the carried object feature is contained in the unmanned aerial vehicle carried feature, marking the carried object feature in the area image as a carried point;
and carrying the articles to a preset placement area by controlling a preset unmanned aerial vehicle according to the carrying point.
2. The method according to claim 1, wherein in the base area, the unmanned aerial vehicle hoists the articles at the carrying point, and the method for controlling the number and the positions of the unmanned aerial vehicles comprises:
Acquiring an article volume value of an article of a carrying point in an area image and the total number of unmanned aerial vehicles in the current area image, wherein the total number of unmanned aerial vehicles comprises the number of idle unmanned aerial vehicles and the number of working unmanned aerial vehicles;
according to the comparison relation among the volume values of the articles, the number of the carrying unmanned aerial vehicles and the fixed points stored in the preset volume database, the number of the carrying unmanned aerial vehicles and the fixed points corresponding to the volume values of the articles are matched;
judging whether the number of the idle unmanned aerial vehicles is greater than or equal to the number of the carrying unmanned aerial vehicles;
if the number of the idle unmanned aerial vehicles is smaller than that of the unmanned aerial vehicles, judging whether the number of the carrying unmanned aerial vehicles exceeds the total number of the unmanned aerial vehicles or not;
if the number of the carrying unmanned aerial vehicles exceeds the total number of the unmanned aerial vehicles, prompting;
if the number of the carrying unmanned aerial vehicles does not exceed the total number of the unmanned aerial vehicles, waiting for the working unmanned aerial vehicles to finish the current task until the number of the idle unmanned aerial vehicles is equal to the number of the carrying unmanned aerial vehicles;
if the number of idle unmanned aerial vehicles is greater than or equal to the number of carrying unmanned aerial vehicles, controlling the unmanned aerial vehicles carrying the number of unmanned aerial vehicles to reach the fixed point of the article where the carrying point is located and carrying out fixed hoisting.
3. The construction base cleaning method according to claim 2, wherein the unmanned aerial vehicles for transporting the number of unmanned aerial vehicles reach the fixed point of the article where the transporting point is located and are fixedly hoisted, and the hoisting method for the transporting point by the unmanned aerial vehicles comprises the following steps:
The article volume values are arranged in a reverse order to screen out the article with the largest article volume value in the base layer area, and the article is defined as a carried article; defining an article having the smallest article volume value in the base layer region as a stacked article;
according to a comparison relation between the number of the carrying unmanned aerial vehicles and the lifting weight value stored in a preset unmanned aerial vehicle lifting database, screening out the lifting weight value corresponding to the number of the carrying unmanned aerial vehicles;
acquiring the current article weight value and the current article material information of the hoisted article;
judging whether the pull-up weight value is larger than the article weight value or not;
if the pulling-up weight value is smaller than the article weight value, prompting;
if the pulling-up weight value is equal to the article weight value, controlling unmanned aerial vehicles corresponding to the quantity of the carrying unmanned aerial vehicles to carry the carried articles to a placement area;
if the pulling-up weight value is larger than the article weight value, matching the bearing weight value corresponding to the article material information and the article volume value according to the comparison relation among the article material information, the article volume value and the bearing weight value stored in the preset material database;
stacking the stacked objects onto the carried objects according to the bearing weight value, and judging whether the bearing weight value is smaller than the object weight value corresponding to the stacked objects;
If the bearing weight value is smaller than or equal to the article weight value corresponding to the stacked articles, controlling the unmanned aerial vehicles corresponding to the number of the unmanned aerial vehicles to convey the articles and the stacked articles to a placement area;
and if the bearing weight value is greater than the article weight value corresponding to the stacked articles, taking down the stacked articles from the carried articles so as to control the unmanned aerial vehicles corresponding to the number of the carrying unmanned aerial vehicles to carry the carried articles to the placement area.
4. A method of cleaning a construction base according to claim 3, wherein the weight bearing value is less than or equal to the weight value of the stacked objects, and the method of placing the stacked objects comprises:
acquiring a current vacant volume space value on a carried article;
judging whether the volume of the stacked objects is smaller than the value of the vacant volume space or not;
if the volume of the stacked objects is smaller than the empty volume space value, stacking the stacked objects on the carried objects until the volume of the stacked objects is equal to the empty volume space value or until the sum of the bearing weight value and the object weight value corresponding to the stacked objects is consistent, so as to control the carrying objects to be carried to the placement area by the unmanned aerial vehicles corresponding to the number of the carrying unmanned aerial vehicles;
If the volume of the stacked objects is larger than the spare volume space value, prompting;
if the volume of the stacked objects is smaller than the value of the empty volume space and the bearing weight value is smaller than the sum of the object weight values corresponding to the stacked objects, judging whether the number of the idle unmanned aerial vehicles is smaller than the preset starting number;
if the number of the idle unmanned aerial vehicles is greater than or equal to the starting number, assigning unmanned aerial vehicles corresponding to the number of the idle unmanned aerial vehicles, and synchronously transporting at preset lifting points for carrying articles so as to update the pull-up weight value;
if the number of idle unmanned aerial vehicles is smaller than the starting number, judging whether the starting number exceeds the total number of unmanned aerial vehicles;
if the starting number exceeds the total number of the unmanned aerial vehicles, prompting is carried out, and the unmanned aerial vehicles corresponding to the number of the carrying unmanned aerial vehicles are controlled to carry the carried objects and the stacked objects to a placement area;
if the starting number does not exceed the total number of unmanned aerial vehicles, waiting for the working unmanned aerial vehicles to finish the current task until the number of idle unmanned aerial vehicles is equal to the starting number, and synchronously transporting at preset lifting points for carrying objects so as to update the pulling-up weight value.
5. The method according to claim 4, wherein when the volume of the stacked objects is smaller than the value of the empty volume space, the stacking method for placing the stacked objects on the carried objects comprises:
Acquiring article volume form information of an article at a carrying point in the area image;
matching the article center of gravity corresponding to the article volume form information and the article material information according to the matching relation among the article volume form information, the article material information and the article center of gravity stored in the preset center database;
the method comprises the steps of inputting the gravity center of the articles for carrying the articles and the volume form information of the articles into a preset model database to calculate the placement position information of the stacked articles, and arranging the stacked articles in a reverse order according to the volume form information of the articles;
according to the stacked objects arranged in the reverse order, the stacked objects are sequentially placed on the carried objects, and whether the bearing weight value of the carried objects is larger than the sum of the object weight values corresponding to the stacked objects is judged;
if the bearing weight value of the carried article is larger than the sum of the article weight values corresponding to the stacked articles, the stacked articles are continuously placed;
and if the bearing weight value of the conveyed article is smaller than or equal to the sum of the article weight values corresponding to the stacked articles, taking down the placed article currently placed on the conveyed article, and controlling the unmanned aerial vehicle to convey the article to the placement area according to the conveying point.
6. A method of cleaning a construction base according to claim 3, wherein the method of selecting the unmanned aerial vehicle to lift the stacked items when the unmanned aerial vehicle stacks the stacked items onto the handled items with the bearing weight value comprises:
Acquiring current carrying position coordinates, current stacking position coordinates and current unmanned aerial vehicle position coordinates of a carried object;
according to the relation among the carrying position coordinates, the stacking position coordinates, the unmanned aerial vehicle position coordinates and the flight paths stored in a preset planning model database, the flight paths corresponding to the stacking position coordinates, the carrying position coordinates and the unmanned aerial vehicle position coordinates are calculated in a simulation mode;
sequentially arranging the flight paths in a reverse order, and defining the unmanned aerial vehicle corresponding to the shortest flight path as a first unmanned aerial vehicle;
acquiring current state information of a first unmanned aerial vehicle;
judging whether the state information is consistent with a preset idle state or not;
if the state information is inconsistent with the idle state, prompting is carried out;
if the state information is consistent with the idle state, the first unmanned aerial vehicle is assigned to reach the stacking position coordinates, stacked objects are transported to the transporting position coordinates, and the first unmanned aerial vehicle is regenerated again;
judging whether the position coordinates of the adjacent unmanned aerial vehicles are smaller than a preset reference distance value or not;
if the position coordinates of the adjacent unmanned aerial vehicles are larger than or equal to the reference distance value, indicating;
if the position coordinates of the adjacent unmanned aerial vehicles are smaller than the reference distance value, the connection direction is obtained according to the carrying position coordinates and the position coordinates of the unmanned aerial vehicles, the carrying position coordinates are taken as the center point, and the unmanned aerial vehicles are controlled to deviate to the connection direction by a preset safety distance and then land on the ground.
7. The method of claim 1, wherein the method for controlling the position of unloading the unmanned aerial vehicle comprises:
acquiring current wind direction detection information and wind force detection information;
calculating moving direction information according to the placement area and the carrying point;
according to the comparison relation among the moving direction information, the wind direction detection information, the wind force detection information and the offset points stored in the preset offset database, the offset points corresponding to the moving direction information, the wind direction detection information and the wind force detection information are matched;
correcting a stop point preset above the placement area according to the offset point, and controlling the unmanned aerial vehicle to discharge at the updated stop point.
8. A construction base cleaning system, comprising:
the acquisition module is used for acquiring an area image, the total number of unmanned aerial vehicles, an article weight value, article material information, a vacant volume space value, article volume form information, a carrying position coordinate, a stacking position coordinate, unmanned aerial vehicle position coordinates, state information, wind direction detection information, wind force detection information, article volume form information and article weight value;
a memory for storing a program of a construction base layer cleaning method according to any one of claims 1 to 7;
A processor, a program in a memory capable of being loaded and executed by the processor and implementing a construction base cleaning method according to any one of claims 1 to 7.
9. A computer readable storage medium storing a computer program loadable by a processor and performing the method of cleaning a construction base layer as claimed in any one of claims 1 to 7.
10. An intelligent terminal comprising a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the construction base layer cleaning method according to any one of claims 1 to 7.
CN202310446890.8A 2023-04-20 2023-04-20 Construction base layer cleaning method, construction base layer cleaning system, storage medium and intelligent terminal Pending CN116495177A (en)

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CN116495177A true CN116495177A (en) 2023-07-28

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