A method, system, storage medium, and intelligent terminal for cleaning construction substrates.

Abstract

This application relates to a method, system, storage medium, and smart terminal for cleaning construction substrates, and pertains to the field of building construction. The method includes: acquiring a current image of the current substrate area; matching the characteristics of the items to be transported to the area image based on a transport database; if the characteristics of the items to be transported are not included in the drone transport characteristics, then marking the transport characteristics of the items in the area image as lifting points; if the characteristics of the items to be transported are included in the drone transport characteristics, then marking the transport characteristics of the items in the area image as transport points; and controlling a preset drone to transport the items to a preset placement area based on the transport points. This application improves cleaning efficiency and enhances cleaning safety.

Description

Technical Field

[0001] This application relates to the field of building construction, and in particular to a method, system, storage medium, and intelligent terminal for cleaning the construction substrate. Background Technology

[0002] During the construction process, the base layer is one of the most crucial aspects.

[0003] In existing technologies, after the base layer is constructed, the items within the base layer are cleaned up. Large items are usually lifted by crane or shoveled out by excavator, while small items are cleaned up manually.

[0004] Regarding the aforementioned technologies, the inventors believe that small items in the construction base layer are often cleaned manually. However, manual cleaning is not only inefficient but also has a high risk factor, and there is room for improvement. Summary of the Invention

[0005] To improve cleaning efficiency and safety, this application provides a method, system, storage medium, and intelligent terminal for cleaning construction substrates.

[0006] Firstly, this application provides a method for cleaning the construction substrate, employing the following technical solution:

[0007] A method for cleaning the construction substrate includes:

[0008] Obtain the current area image of the current base area;

[0009] Based on the characteristics of the transported items stored in the preset transport database and the comparison relationship between the regional images, the transported item characteristics corresponding to the regional images are matched.

[0010] Determine whether the characteristics of the transported items include the preset drone transport characteristics;

[0011] If the features of the transported items are not included in the features of the drone transport, then the features of the transported items in the marked area image are the hoisting points;

[0012] If the features of the transported items are included in the features of the drone transport, then the transported item features in the marked area image are the transport points;

[0013] The system controls a pre-defined drone to transport items to a pre-defined placement area based on the transport point.

[0014] By employing the aforementioned technical solution, the imagery of the area is acquired to understand the current situation within that area. Furthermore, image comparison reveals the transport points and the physical characteristics of the items being transported. Knowing the transport points allows for drone-based transport, improving both cleanup efficiency and safety.

[0015] Optionally, in the basic area, drones are used to lift items at the transport point. Methods for controlling the number and location of drones include:

[0016] Obtain the item volume value of the transport point in the regional image and the total number of drones in the current regional image. The total number of drones includes the number of idle drones and the number of working drones.

[0017] Based on the comparison relationship between the item volume value, the number of transport drones, and the fixed point stored in the preset volume database, the number of transport drones and the fixed point corresponding to the item volume value are matched.

[0018] Determine if the number of idle drones is greater than or equal to the number of transport drones;

[0019] If the number of idle drones is less than the number of transport drones, then determine whether the number of transport drones exceeds the total number of drones;

[0020] If the number of transport drones exceeds the total number of drones, a prompt will be displayed;

[0021] If the number of transport drones does not exceed the total number of drones, wait for the working drones to complete their current tasks until the number of idle drones equals the number of transport drones.

[0022] If the number of idle drones is greater than or equal to the number of transport drones, then the drone controlling the number of transport drones will arrive at the fixed point of the item at the transport point and perform fixed hoisting.

[0023] By adopting the above technical solution, by understanding the volume of items at the transport points in the regional image and then calculating the total number of drones, the number of drones can be controlled based on the volume of items, and the idle drones can be identified to support transport, thereby improving overall transportation efficiency and safety.

[0024] Optionally, a number of drones will arrive at the fixed point of the item at the transport point and perform fixed hoisting. The hoisting methods of the drones at the transport point include:

[0025] Sort the items by volume value in reverse order to filter out the items with the largest volume value in the base area and define them as transport items; define the items with the smallest volume value in the base area as stacking items.

[0026] Based on the comparison relationship between the number of transport drones and the lifting weight value stored in the preset drone lifting database, the lifting weight value corresponding to the number of transport drones is selected.

[0027] Obtain the current weight and material information of the hoisted item;

[0028] Determine if the lifting weight value is greater than the weight of the item;

[0029] If the pulled weight is less than the item's weight, a prompt will be displayed;

[0030] If the lifting weight value equals the item weight value, then control the number of transport drones corresponding to the number of drones to transport the item to the placement area;

[0031] If the lifting weight value is greater than the item weight value, the item material information, item volume value and load-bearing weight value stored in the preset material database will be compared to match the load-bearing weight value corresponding to the item material information and item volume value.

[0032] Based on the weight-bearing value, stack the items onto the transported items, and determine whether the weight-bearing value is less than the weight of the items corresponding to the stacked items;

[0033] If the load-bearing weight value is greater than or equal to the weight value of the stacked items, then control the number of drones corresponding to the number of transport drones to transport the items and stacked items to the placement area.

[0034] If the load-bearing value is less than the weight value of the stacked items, the stacked items will be removed from the transport items, so that the number of transport drones corresponding to the number of transport drones can transport the items to the placement area.

[0035] By adopting the above technical solutions, the maximum volume of the items is determined, allowing for priority lifting. Furthermore, smaller items are stacked during transport, improving overall lifting efficiency. Simultaneously, understanding the weight allows for weight control during lifting, increasing the number of items lifted at a time and further improving efficiency.

[0036] Optionally, if the load-bearing capacity is greater than or equal to the weight of the stacked items, the placement method for the stacked items includes:

[0037] Get the current free volume space value of the item being moved;

[0038] Determine whether the volume of the stacked items is less than the available space.

[0039] If the volume of the stacked items is less than the free volume space value, the stacked items are controlled to be stacked on the transported items until the volume of the stacked items is equal to the free volume space value, or until the weight value is consistent with the sum of the weight values ​​of the stacked items, so as to control the number of transported drones to transport the transported items to the placement area.

[0040] If the volume of the stacked items exceeds the available space, a prompt will be displayed.

[0041] By adopting the above technical solution, we can understand whether there is enough space to continue stacking by understanding the available volume space. At the same time, we can also understand the situation of the drone. If the weight that the drone can lift is allowed and the carrying capacity of the items is sufficient, we can increase the stacking quantity as much as possible to improve transportation efficiency.

[0042] Optionally, when the volume of the stacked items is less than the available space, the stacking methods for placing the stacked items on the transported items include:

[0043] Obtain the volume and shape information of items at the transport points in the region image;

[0044] Based on the matching relationship between the item volume and shape information, item material information and item center of gravity stored in the preset central database, the item center of gravity corresponding to the item volume and shape information and the item material information is matched.

[0045] Input the center of gravity and volume and shape information of the items to be transported into the preset model database to calculate the placement information of the stacked items, and arrange the stacked items in reverse order according to the volume and shape information of the items.

[0046] Based on the stacked items arranged in reverse order, place them sequentially on the transported items, and determine whether the load-bearing weight of the transported items is greater than the sum of the weights of the stacked items.

[0047] If the weight capacity of the transported item is greater than the sum of the weights of the items being stacked, then continue placing the stacked items.

[0048] If the weight capacity of the transported item is less than or equal to the sum of the weights of the stacked items, the item currently placed on the transported item will be removed, and the drone will be controlled to transport the stacked items to the placement area according to the transport point.

[0049] By employing the aforementioned technical solution, and understanding the volume, shape, and material information of the items, the center of gravity of the items can be determined. Based on this center of gravity, the placement of the items can be determined. Furthermore, by combining this with the reverse-order arrangement of volume and shape information, as many items as possible can be placed, thereby improving overall transportation efficiency. Moreover, within the weight limit, stacking items can be added to further improve transportation efficiency.

[0050] Optionally, when a drone loads items onto transported items based on their weight capacity, the selection method for using a drone to lift and load items includes:

[0051] Obtain the current transport location coordinates, current stacking location coordinates, and current drone location coordinates of the transported items;

[0052] Based on the relationship between the transport location coordinates, stacking location coordinates, UAV location coordinates and flight paths stored in the pre-set planning model database, the flight paths corresponding to the stacking location coordinates, transport location coordinates and UAV location coordinates are simulated and calculated.

[0053] The flight paths are arranged in reverse order, and the drone corresponding to the shortest flight path is defined as the first drone.

[0054] Obtain the current status information of the first drone;

[0055] Determine whether the status information is consistent with the preset idle status;

[0056] If the status information is inconsistent with the idle status, a prompt will be displayed;

[0057] If the status information is consistent with the idle status, then the first drone is assigned to the stacking location coordinates, transports the stacked items to the transport location coordinates, and the first drone is regenerated.

[0058] Determine whether the position coordinates of adjacent drones are less than a preset reference distance value;

[0059] If the location coordinates of an adjacent drone are greater than or equal to the reference distance value, an indication will be given;

[0060] If the position coordinates of an adjacent drone are less than the reference distance value, the connection direction is obtained based on the transport position coordinates and the drone position coordinates. Then, with the transport position coordinates as the center point, the drone is controlled to deviate from the connection direction by a preset safe distance before landing on the ground.

[0061] By employing the above technical solution and understanding the coordinates, the location of the drone and the object can be determined. By understanding the flight path, the drone corresponding to the shortest flight path can be identified, and its idle status can be determined for control. The rational use of drones improves overall transportation efficiency.

[0062] Optionally, the location control methods for drone unloading include:

[0063] Obtain current wind direction and wind speed information;

[0064] The direction of movement is calculated based on the placement area and the transport point;

[0065] Based on the movement direction information, wind direction detection information, wind force detection information, and the comparison relationship between offset points stored in the preset offset database, the offset points corresponding to the matched movement direction information, wind direction detection information, and wind force detection information are used.

[0066] The offset point is used to correct the preset docking point above the placement area, and the drone is controlled to unload at the updated docking point.

[0067] By adopting the above technical solutions, understanding wind force and direction, and then understanding the unloading location of the drone, the docking point of the drone after interference can be updated, thereby reducing the impact of wind on transportation and improving transportation safety.

[0068] Secondly, this application provides a construction substrate cleaning system, which adopts the following technical solution:

[0069] A construction substrate cleaning system, comprising:

[0070] The acquisition module is used to acquire regional images, total number of drones, item weight, item material information, available volume space, item volume and shape information, transport location coordinates, stacking location coordinates, drone location coordinates, status information, wind direction detection information, wind force detection information, item volume and shape information, and item weight.

[0071] A memory for storing a program for a construction substrate cleaning method as described above;

[0072] The processor and memory can load and execute programs to implement a construction substrate cleaning method as described above.

[0073] By employing the aforementioned technical solution, the imagery of the area is acquired to understand the current situation within that area. Furthermore, image comparison reveals the transport points and the physical characteristics of the items being transported. Knowing the transport points allows for drone-based transport, improving both cleanup efficiency and safety.

[0074] Thirdly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates improved cleaning efficiency and security, and adopts the following technical solution:

[0075] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed as described above for cleaning a construction substrate.

[0076] By employing the aforementioned technical solution, the imagery of the area is acquired to understand the current situation within that area. Furthermore, image comparison reveals the transport points and the physical characteristics of the items being transported. Knowing the transport points allows for drone-based transport, improving both cleanup efficiency and safety.

[0077] Fourthly, this application provides a smart terminal, which adopts the following technical solution:

[0078] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor, such as the above-described method for cleaning the construction substrate.

[0079] By employing the aforementioned technical solution, the imagery of the area is acquired to understand the current situation within that area. Furthermore, image comparison reveals the transport points and the physical characteristics of the items being transported. Knowing the transport points allows for drone-based transport, improving both cleanup efficiency and safety.

[0080] In summary, this application includes at least one of the following beneficial technical effects:

[0081] 1. Improve cleaning efficiency and enhance cleaning safety;

[0082] 2. Improve the efficiency and safety of drone use. Attached Figure Description

[0083] Figure 1 This is a flowchart of the method for cleaning the construction substrate.

[0084] Figure 2 This is a flowchart illustrating the method for controlling the number and location of drones.

[0085] Figure 3 This is a flowchart of the method for using drones to lift loads at the transport point.

[0086] Figure 4 It is a flowchart of the method for placing stacked items.

[0087] Figure 5 This is a flowchart illustrating the stacking method for placing and transporting items.

[0088] Figure 6 This is a flowchart illustrating the selection method for using drones to lift and stack items.

[0089] Figure 7 This is a flowchart of the location control method for unloading cargo using a drone. Detailed Implementation

[0090] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0091] This application discloses a method for cleaning the construction base layer, which uses a drone to assess materials, thereby enabling the transportation of items that can be transported by drone, improving transportation efficiency and safety.

[0092] Reference Figure 1 A method for cleaning the construction substrate includes the following steps:

[0093] Step 100: Obtain the current area image of the current base area.

[0094] Multiple cameras are installed at the construction site to detect the base area and generate images. The images are then merged to create a single image of the entire area.

[0095] Step 101: Match the transported item features corresponding to the region image based on the transported item features stored in the preset transport database and the comparison relationship between the region images.

[0096] The transport database is a pre-set database that stores the characteristics of the transported items and regional images. By inputting the regional images into the transport database, the transported item characteristics corresponding to the regional images can be matched from the transport database.

[0097] The characteristics of the transported items are the items corresponding to those in the image. By recognizing these items, the situation of the items in the image can be distinguished.

[0098] Step 102: Determine whether the characteristics of the transported items are included in the preset drone transport characteristics.

[0099] The decision to move an item is made by analyzing whether it exhibits characteristics characteristic of drone handling. These drone handling characteristics are preset data set by staff beforehand.

[0100] The items referred to by the drone handling feature are those that drones can handle.

[0101] Step 1030: If the features of the transported items are not included in the features of the drone transport, then mark the features of the transported items in the area image as lifting points.

[0102] If the characteristics of the transported items are not included in the characteristics of drone transport, it means that drone transport is not required here. The items here are large and need to be lifted by hoisting equipment. Therefore, the transported item characteristics in the marked area image are the hoisting points.

[0103] Step 1031: If the features of the transported items are included in the features of the drone transport, then mark the transported items features in the area image as transport points.

[0104] If the characteristics of the transported item are included in the characteristics of the drone transport, it means that the item can be transported by drone. Therefore, the transported item characteristics in the marked area image are designated as transport points and stored for later retrieval.

[0105] Step 104: Control the preset drone to transport the items to the preset placement area according to the transport point.

[0106] After identifying the transport point, the drone is controlled to transport the items at the transport point to the placement area. The placement area is a preset location that is set by the staff according to the actual situation, which will not be described in detail here.

[0107] Reference Figure 2 In grassroots areas, drones are used to lift items at transport points. The methods for controlling the number and location of drones include the following steps:

[0108] Step 200: Obtain the item volume value of the transport point in the area image and the total number of drones in the current area image. The total number of drones includes the number of idle drones and the number of working drones.

[0109] The camera acquires the volume of items at transport points in the area image. When acquiring the volume of all items, the volume is estimated to output the data. The camera also identifies drones in the area image to obtain the total number of drones.

[0110] The total number of drones includes both idle and operational drones. The drones' signals are identified by receivers to distinguish their operational status, i.e., to determine whether a drone is idle or operational.

[0111] Step 201: Based on the comparison relationship between the item volume value, the number of transport drones, and the fixed points stored in the preset volume database, match the number of transport drones and the fixed points corresponding to the item volume value.

[0112] The volume database is a pre-set database that stores the volume of the items, the number of transport drones, and fixed points. Fixed points are the connection points for the drones to connect to, thus enabling the transport of the items.

[0113] By inputting the item's volume value into a volume database, the system can match the corresponding number of transport drones and their designated locations. The number of transport drones represents the number of drones required to transport the item corresponding to its volume value.

[0114] Step 2030: If the number of idle drones is less than the number of transport drones, then determine whether the number of transport drones exceeds the total number of drones.

[0115] If the number of idle drones is less than the total number of drones, it means there are not many idle drones. Therefore, it is necessary to determine whether the number of transport drones exceeds the total number of drones to know whether the transport requirements are met.

[0116] Step 2040: If the number of transport drones exceeds the total number of drones, a prompt will be displayed.

[0117] If the number of transport drones exceeds the total number of drones, it indicates that there are not enough drones, and a notification will be sent to inform the staff.

[0118] Step 2041: If the number of transport drones does not exceed the total number of drones, wait for the working drones to complete their current tasks until the number of idle drones equals the number of transport drones.

[0119] If the number of transport drones does not exceed the total number of drones, it means the number of drones meets the requirement. At this time, the system waits for the working drones to complete their current tasks. After completing their tasks, the working drones will become idle drones, and the number of idle drones will increase. When the number of idle drones equals the number of transport drones, the transport requirements are met.

[0120] Step 2031: If the number of idle drones is greater than or equal to the number of transport drones, then the drones controlling the number of transport drones arrive at the fixed point of the item at the transport point and perform fixed hoisting.

[0121] If the number of idle drones is greater than or equal to the number of transport drones, it means that there are enough drones. At this time, the drones controlling the number of transport drones arrive at the transport point and perform fixed hoisting on the fixed point of the item.

[0122] Reference Figure 3 The items are sorted in reverse order by volume value to identify the item with the largest volume value in the base area, which is then defined as the transport item. This transport item is moved by drone. The item with the smallest volume value in the base area is defined as the stacking item. The stacking item is placed on top of the transport item, thus achieving synchronized transportation.

[0123] The number of drones used for transport arrives at the fixed point of the item at the transport point and performs fixed hoisting. The hoisting method of the drone at the transport point includes the following steps:

[0124] Step 300: Based on the comparison relationship between the number of transport drones and the lifting weight value stored in the preset drone lifting database, filter out the lifting weight value corresponding to the number of transport drones.

[0125] The drone lifting database is a pre-set database that stores the number of transport drones and their lifting weight values. By inputting the number of transport drones into the drone lifting database, the corresponding lifting weight value can be matched from the database.

[0126] The lift weight value represents the weight of the item being stretched by the drone.

[0127] Step 301: Obtain the current weight and material information of the hoisted item.

[0128] The material information of the item is obtained through the camera, and the material is judged to obtain the material information of the item.

[0129] The weight of the item is obtained through a weighing sensor installed on the drone. When the drone lifts the item, it is pre-lifted to obtain the item's weight.

[0130] Step 302: Determine whether the lifting weight value is greater than the weight value of the item.

[0131] When lifting an item, it is determined whether the lifting weight exceeds the item's weight.

[0132] Step 3030: If the weight value of the pulled item is less than the weight value of the item, a prompt will be given.

[0133] If the lifting weight is less than the item's weight, it means the drone cannot lift the item and therefore cannot transport it, hence the warning.

[0134] Step 3031: If the lifting weight value is equal to the item weight value, then control the number of transport drones corresponding to the number of transport drones to transport the item to the placement area.

[0135] If the lifting weight value equals the item weight value, it means that lifting and transportation can be carried out at this time. Therefore, the number of drones corresponding to the number of handling drones is controlled to handle the items and move them to the designated placement area.

[0136] Step 3032: If the lifting weight value is greater than the item weight value, then match the item material information and the item volume value with the corresponding load-bearing weight value according to the comparison relationship between the item material information, item volume value and load-bearing weight value stored in the preset material database.

[0137] If the weight increase value is greater than the weight of the item, it means that the weight can still be increased.

[0138] The material database is a pre-set database that stores item material information, item volume values, and load-bearing weight values. By inputting the item material information and item volume values ​​into the material database, the corresponding load-bearing weight values ​​can be matched from the database.

[0139] The weight capacity is the weight at which other items can be placed on top of the item.

[0140] Step 304: Based on the weight-bearing value, stack the items onto the transported items, and determine whether the weight-bearing value is less than the weight of the items corresponding to the stacked items.

[0141] Based on the weight capacity, the stacked items are placed on top of the transported items, and it is then determined whether the weight capacity is less than the weight of the stacked items.

[0142] Step 3050: If the load-bearing weight value is greater than or equal to the weight value of the stacked items, then control the number of drones corresponding to the number of transport drones to transport the items and stacked items to the placement area.

[0143] If the weight value is greater than or equal to the weight value of the stacked items, it means that placement can continue. At this time, the number of drones corresponding to the number of handling drones will be controlled to transport the items and stacked items to the placement area.

[0144] Step 3051: If the load-bearing weight value is less than the weight value of the stacked item, the stacked item is removed from the transport item, so that the number of transport drones corresponding to the number of transport drones can transport the item to the placement area.

[0145] If the load-bearing value exceeds the weight of the items being stacked, it indicates that too many items are being placed. Therefore, the stacked items are removed from the transport items to reduce the pressure, and the number of transport drones corresponding to the number of transport drones is controlled to transport the items to the placement area.

[0146] Reference Figure 4 The load-bearing capacity is greater than or equal to the weight of the items being stacked. The method for placing the stacked items includes the following steps:

[0147] Step 400: Obtain the current free volume space value on the transported item.

[0148] A camera is mounted on a drone, allowing the drone to monitor the area in real time during flight. The camera identifies any empty space on the items being transported and outputs a value indicating that empty space is available.

[0149] Step 401: Determine whether the volume of the stacked items is less than the free space value.

[0150] Determine if the volume of the stacked items is less than the available space to determine whether more items can be placed.

[0151] Step 4020: If the volume of the stacked items is less than the free volume space value, control the stacked items to be placed on the transported items until the volume of the stacked items is equal to the free volume space value, or until the weight value is consistent with the sum of the weight values ​​of the stacked items, so as to control the drones corresponding to the number of transport drones to transport the transported items to the placement area.

[0152] If the volume of the stacked items is less than the free space value, it means there is still space to place them. At this time, control the stacked items to be placed on top of the transported items until the volume of the stacked items equals the free space value, that is, the items are filled.

[0153] When controlling the stacking of items onto the transported items, if the weight value is the same as the sum of the weight values ​​of the stacked items, the placement will stop, and the number of transport drones corresponding to the number of transport drones will be controlled to transport the items to the placement area.

[0154] Step 4021: If the volume of the stacked items exceeds the available space, a prompt will be displayed.

[0155] If the volume of the items to be stacked exceeds the available space, meaning the items are too large to be placed on the transported items, a notification will be given to inform the staff.

[0156] Reference Figure 5 When the volume of the stacked items is less than the available space, the stacking method for transporting items includes the following steps:

[0157] Step 500: Obtain the volume and shape information of the items at the transport points in the region image.

[0158] The camera takes pictures of the items and provides information about the items at the transport points in the area image. By taking pictures of the items, information about their shape and form can be obtained. This information about the overall shape and form of the items includes their shape and how they are placed.

[0159] Step 501: Based on the matching relationship between the item volume and shape information, item material information and item center of gravity stored in the preset central database, match the item center of gravity corresponding to the item volume and shape information and the item material information.

[0160] The central database is a pre-set database that stores information about the item's volume and shape, material, and center of gravity. The center of gravity is the point at which the item's weight is concentrated, thus maintaining its balance.

[0161] The volume and shape information and material information of the item are input into the central database, and the center of gravity of the item corresponding to the volume and shape information and material information is matched from the central database.

[0162] Step 502: Input the center of gravity and volume shape information of the transported items into the preset model database to calculate the placement information of the stacked items, and arrange the stacked items in reverse order according to the volume shape information.

[0163] The center of gravity and volume / shape information of the items to be moved are input into the model database. The model database is a preset database, which is set by the staff according to the actual situation, and will not be elaborated here.

[0164] The model database is used to calculate the placement information of stacked items, thereby minimizing the impact on the center of gravity. Simultaneously, the stacked items are arranged in reverse order according to their volume and shape.

[0165] Step 503: Based on the reverse order of the stacked items, place them sequentially on the transported items, and determine whether the load-bearing capacity of the transported items is greater than the sum of the weights of the stacked items.

[0166] Based on the reverse-order stacked items, place them sequentially onto the transport items in the reverse order. After placement, determine whether the load-bearing capacity of the transport items exceeds the sum of the weights of the stacked items, thereby improving safety.

[0167] Step 5040: If the weight capacity of the transported item is greater than the sum of the weight values ​​of the items to be stacked, then continue placing the stacked items.

[0168] If the weight capacity of the transported item is greater than the sum of the weights of the items being stacked, it means that it can continue to bear the weight, and therefore, the stacked items can continue to be placed on top of the transported item.

[0169] Step 5041: If the weight capacity of the transported item is less than or equal to the sum of the weight values ​​of the stacked items, then remove the currently placed item on the transported item and control the drone to transport the stacked item to the placement area according to the transport point.

[0170] If the weight capacity of the transported item is less than or equal to the sum of the weights of the stacked items, it indicates that the current weight is too large and the transported item cannot bear it. In order to improve the safety of transportation, the items currently placed on the transported item are removed, and the drone is controlled to transport the item to the placement area according to the known transport point.

[0171] Reference Figure 6 When a drone is used to load and place stacked items onto transported items, the selection method for drone-loaded and stacked items includes the following steps:

[0172] Step 600: Obtain the current transport location coordinates, current stacking location coordinates, and current drone location coordinates of the transported items.

[0173] The drone is equipped with a positioning chip, allowing the system to determine its location, including the location of the camera, and outputting the drone's coordinates. Similarly, cameras fixed to the ground, whose positions do not move, also have their locations known in advance.

[0174] The system uses cameras to identify items in different areas, and the cameras work together to determine the coordinates of the moving and stacking locations of the items.

[0175] Step 601: Based on the relationship between the transport location coordinates, stacking location coordinates, UAV location coordinates and flight paths stored in the preset planning model database, simulate and calculate the flight paths corresponding to the stacking location coordinates, transport location coordinates and UAV location coordinates.

[0176] The planning model database is a pre-set database, which stores the coordinates of the transport location, the stacking location, the UAV's location coordinates, and the flight path. The flight path is the UAV's flight route.

[0177] By inputting the coordinates of the stacking location, the handling location, and the UAV's location into the planning model database, the flight path corresponding to these coordinates is simulated and calculated from the database. The path is then obtained by connecting the coordinate points.

[0178] Step 602: Arrange the flight paths in reverse order and define the drone corresponding to the shortest flight path as the first drone.

[0179] The flight paths are arranged in reverse order, and the drone corresponding to the shortest flight path is defined as the first drone.

[0180] Step 603: Obtain the current status information of the first UAV.

[0181] By observing whether it is performing a task, we can know the drone's status information, including idle status and working status.

[0182] Step 604: Determine whether the status information is consistent with the preset idle status.

[0183] By understanding the status information of the first drone, it can be determined whether the first drone is in an idle state. The idle state is data preset by the staff.

[0184] Step 6050: If the status information is inconsistent with the idle status, a prompt will be issued.

[0185] If the status information is inconsistent with the idle status, it means that the drone is working. In this case, a prompt will be made to inform the staff.

[0186] Step 6051: If the status information is consistent with the idle status, then the first drone is assigned to the stacking location coordinates and transports the stacked items to the handling location coordinates, and the first drone is regenerated.

[0187] If the status information is consistent with the idle status, it means that the first drone is in an idle state. Therefore, the first drone is assigned to the stacking location coordinates and transport the stacked items to the transport location coordinates. At this time, the first drone needs to be regenerated.

[0188] Step 606: Determine whether the position coordinates of adjacent drones are less than the preset reference distance value.

[0189] The distance between drones can be determined by checking whether the position coordinates of adjacent drones are less than a reference distance value. This reference distance value is a preset parameter set by staff based on actual conditions, and will not be elaborated upon here.

[0190] Step 6070: If the position coordinates of an adjacent UAV are greater than or equal to the reference distance value, then issue an instruction.

[0191] If the position coordinates of an adjacent drone are greater than or equal to the reference distance value, it indicates that the spacing between the adjacent drones meets the requirements, and an indication is given to inform the staff.

[0192] Step 6071: If the position coordinates of the adjacent drone are less than the reference distance value, the connection direction is obtained based on the transport position coordinates and the drone position coordinates. Then, with the transport position coordinates as the center point, the drone is controlled to deviate towards the connection direction by a preset safe distance and land on the ground.

[0193] If the position coordinates of adjacent drones are less than the reference distance value, it means that the distance between adjacent drones is too close and does not meet the requirements, so it needs to be adjusted.

[0194] The connection direction is determined by comparing the coordinates of the transport location and the drone's location. Using the transport location coordinates as the center point, the drone is controlled to deviate at a safe distance in the connection direction before landing on the ground, maintaining a sufficiently safe distance. This safe distance is a preset distance, set by staff based on actual conditions, and will not be elaborated upon here.

[0195] Reference Figure 7 When using drones to transport goods, the unloading situation of the drone must be considered from the beginning of the transportation process. The drone unloading position control method includes the following steps:

[0196] Step 700: Obtain current wind direction and wind force information.

[0197] The wind direction and wind force information are obtained by using wind direction and wind force sensors installed on the site. The wind direction information indicates the direction of the wind, while the wind force information indicates the wind speed or the strength of the wind.

[0198] Step 701: Calculate the movement direction information based on the placement area and the transport point.

[0199] Given the locations of the placement area and the transport point, the direction of movement of the drone can be determined, and thus the direction of movement information can be output.

[0200] Step 702: Based on the movement direction information, wind direction detection information, wind force detection information, and the comparison relationship between offset points stored in the preset offset database, the offset points corresponding to the matched movement direction information, wind direction detection information, and wind force detection information are selected.

[0201] The offset database is a pre-set database that stores movement direction information, wind direction detection information, wind force detection information, and offset points. The offset points are the locations where the drone needs to move, so that the hoisted items can reach the designated positions.

[0202] By inputting movement direction information, wind direction detection information, and wind force detection information into the offset database, the offset points corresponding to the movement direction information, wind direction detection information, and wind force detection information are matched from the offset database.

[0203] Step 703: Correct the preset docking point above the placement area based on the offset point, and control the drone to unload at the updated docking point.

[0204] The drone is adjusted based on the offset point to correct the preset docking point above the placement area, and then controlled to stop at the updated docking point. At the stop point, the drone is unloaded from the items hoisted by the rope.

[0205] Based on the same inventive concept, embodiments of the present invention provide a construction substrate cleaning system, comprising:

[0206] The acquisition module is used to acquire regional images, total number of drones, item weight, item material information, available volume space, item volume and shape information, transport location coordinates, stacking location coordinates, drone location coordinates, status information, wind direction detection information, wind force detection information, item volume and shape information, and item weight.

[0207] A memory for storing a program for a construction substrate cleaning method as described above;

[0208] The processor and memory can load and execute programs to implement a construction substrate cleaning method as described above.

[0209] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0210] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for cleaning a construction substrate.

[0211] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0212] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to perform a method for cleaning a construction substrate.

[0213] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0214] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for cleaning the construction substrate, characterized in that, include: Obtain the current area image of the current base area; Based on the characteristics of the transported items stored in the preset transport database and the comparison relationship between the regional images, the transported item characteristics corresponding to the regional images are matched. Determine whether the characteristics of the transported items include the preset drone transport characteristics; If the features of the transported items are not included in the features of the drone transport, then the features of the transported items in the marked area image are the hoisting points; If the features of the transported items are included in the features of the drone transport, then the transported item features in the marked area image are the transport points; The system controls a pre-defined drone to transport items to a pre-defined placement area based on the transport point.

2. The method for cleaning the construction substrate according to claim 1, characterized in that, In grassroots areas, drones are used to lift items at transport points. Methods for controlling the number and location of drones include: Obtain the item volume value of the transport point in the regional image and the total number of drones in the current regional image. The total number of drones includes the number of idle drones and the number of working drones. Based on the comparison relationship between the item volume value, the number of transport drones, and the fixed point stored in the preset volume database, the number of transport drones and the fixed point corresponding to the item volume value are matched. Determine if the number of idle drones is greater than or equal to the number of transport drones; If the number of idle drones is less than the number of transport drones, then determine whether the number of transport drones exceeds the total number of drones; If the number of transport drones exceeds the total number of drones, a prompt will be displayed; If the number of transport drones does not exceed the total number of drones, wait for the working drones to complete their current tasks until the number of idle drones equals the number of transport drones. If the number of idle drones is greater than or equal to the number of transport drones, then the drone controlling the number of transport drones will arrive at the fixed point of the item at the transport point and perform fixed hoisting.

3. The method for cleaning the construction substrate according to claim 2, characterized in that, The number of drones used for transport arrives at the fixed point of the item at the transport point and performs fixed hoisting. The hoisting methods used by the drones at the transport point include: Sort the items by volume value in reverse order to filter out the items with the largest volume value in the base area and define them as transport items; define the items with the smallest volume value in the base area as stacking items. Based on the comparison relationship between the number of transport drones and the lifting weight value stored in the preset drone lifting database, the lifting weight value corresponding to the number of transport drones is selected. Obtain the current weight and material information of the hoisted item; Determine if the lifting weight value is greater than the weight of the item; If the pulled weight is less than the item's weight, a prompt will be displayed; If the lifting weight value equals the item weight value, then control the number of transport drones corresponding to the number of drones to transport the item to the placement area; If the lifting weight value is greater than the item weight value, the item material information, item volume value and load-bearing weight value stored in the preset material database will be compared to match the load-bearing weight value corresponding to the item material information and item volume value. Based on the weight-bearing value, stack the items onto the transported items, and determine whether the weight-bearing value is less than the weight of the items corresponding to the stacked items; If the load-bearing weight value is greater than or equal to the weight value of the stacked items, then control the number of drones corresponding to the number of transport drones to transport the items and stacked items to the placement area. If the load-bearing value is less than the weight value of the stacked items, the stacked items will be removed from the transport items, so that the number of transport drones corresponding to the number of transport drones can transport the items to the placement area.

4. The method for cleaning the construction substrate according to claim 3, characterized in that, The methods for placing stacked items include those with a load-bearing capacity greater than or equal to the weight of the items being stacked: Get the current free volume space value of the item being moved; Determine whether the volume of the stacked items is less than the available space. If the volume of the stacked items is less than the free volume space value, the stacked items are controlled to be stacked on the transported items until the volume of the stacked items is equal to the free volume space value, or until the weight value is consistent with the sum of the weight values ​​of the stacked items, so as to control the number of transported drones to transport the transported items to the placement area. If the volume of the stacked items exceeds the available space, a prompt will be displayed.

5. The method for cleaning the construction substrate according to claim 4, characterized in that, When the volume of the stacked items is less than the available space, the stacking methods for transporting the items include: Obtain the volume and shape information of items at the transport points in the region image; Based on the matching relationship between the item volume and shape information, item material information and item center of gravity stored in the preset central database, the item center of gravity corresponding to the item volume and shape information and the item material information is matched. Input the center of gravity and volume and shape information of the items to be transported into the preset model database to calculate the placement information of the stacked items, and arrange the stacked items in reverse order according to the volume and shape information of the items. Based on the stacked items arranged in reverse order, place them sequentially on the transported items, and determine whether the load-bearing weight of the transported items is greater than the sum of the weights of the stacked items. If the weight capacity of the transported item is greater than the sum of the weights of the items being stacked, then continue placing the stacked items. If the weight capacity of the transported item is less than or equal to the sum of the weights of the stacked items, the item currently placed on the transported item will be removed, and the drone will be controlled to transport the transported item to the placement area according to the transport point.

6. The method for cleaning the construction substrate according to claim 3, characterized in that, When a drone is used to load and place stacked items onto transported items based on their load-bearing capacity, the selection methods for drone-based item lifting and stacking include: Obtain the current transport location coordinates, current stacking location coordinates, and current drone location coordinates of the transported items; Based on the relationship between the transport location coordinates, stacking location coordinates, UAV location coordinates and flight paths stored in the pre-set planning model database, the flight paths corresponding to the stacking location coordinates, transport location coordinates and UAV location coordinates are simulated and calculated. The flight paths are arranged in reverse order, and the drone corresponding to the shortest flight path is defined as the first drone. Obtain the current status information of the first drone; Determine whether the status information is consistent with the preset idle status; If the status information is inconsistent with the idle status, a prompt will be displayed; If the status information is consistent with the idle status, then the first drone is assigned to the stacking location coordinates, transports the stacked items to the transport location coordinates, and the first drone is regenerated. Determine whether the position coordinates of adjacent drones are less than a preset reference distance value; If the position coordinates of an adjacent drone are greater than or equal to the reference distance value, an indication will be given; If the position coordinates of an adjacent drone are less than the reference distance value, the connection direction is obtained based on the transport position coordinates and the drone position coordinates. Then, with the transport position coordinates as the center point, the drone is controlled to deviate from the connection direction by a preset safe distance before landing on the ground.

7. The method for cleaning the construction substrate according to claim 1, characterized in that, The location control methods for drone unloading include: Obtain current wind direction and wind speed information; The direction of movement is calculated based on the placement area and the transport point; Based on the movement direction information, wind direction detection information, wind force detection information, and the comparison relationship between offset points stored in the preset offset database, the offset points corresponding to the movement direction information, wind direction detection information, and wind force detection information are matched. The drone is then positioned above the designated area based on the offset point, and the drone is controlled to unload at the updated docking point.

8. A construction substrate cleaning system, characterized in that, include: The acquisition module is used to acquire regional images, total number of drones, item weight, item material information, available volume space, item volume and shape information, transport location coordinates, stacking location coordinates, drone location coordinates, status information, wind direction detection information, wind force detection information, item volume and shape information, and item weight. A memory for storing a program for a construction substrate cleaning method as described in any one of claims 1 to 7; The processor and the program in the memory can be loaded and executed by the processor to implement a construction base cleaning method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer program is stored and can be loaded by a processor and executed as any one of the construction substrate cleaning methods as described in claims 1 to 7.

10. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any one of the construction substrate cleaning methods as described in claims 1 to 7.

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