Flight navigation system and method for high-altitude curtain wall cleaning unmanned aerial vehicle

Abstract

The invention provides a flight navigation system and method for a high-altitude curtain wall cleaning unmanned aerial vehicle. The flight navigation system comprises an image acquisition module, an image processing module, an image three-dimensional modeling module, an ultrasonic ranging module, a driving module, an airborne GNSS positioning module, a data transmission module, a wireless communication module, a coordinate analysis module, a data processing module, a display module and an operation panel. According to the system, the image acquisition module and the image processing module are used for performing image acquisition and processing on the to-be-cleaned surface of the curtain wall, the display module is used for displaying the real-time position of the curtain wall cleaning unmanned aerial vehicle in three-dimensional modeling, and coordinate points are sent to the coordinate analysis module through the wireless communication module; further, the driving module can drive the curtain wall cleaning unmanned aerial vehicle to move to a specified working coordinate point so as to accurately navigate the working position of the unmanned aerial vehicle, and meanwhile, the display module updates and displays the position of the curtain wall cleaning unmanned aerial vehicle in real time.

Description

Technical Field

[0001] The present invention relates to a system and a method, in particular to a flight navigation system and a method for a high-altitude curtain wall cleaning unmanned aerial vehicle, belonging to the technical field of curtain wall cleaning unmanned aerial vehicles. Background Art

[0002] The high-altitude curtain wall cleaning drone is a high-altitude cleaning platform composed of a multi-rotor drone device that obtains energy through a cable connection to the ground power supply system and an intelligent glass curtain wall cleaning device. Compared with drones that obtain energy by carrying batteries or fuel, this platform can achieve long-term uninterrupted hovering in the air, completing high-altitude operation tasks while quickly modeling the cleaning cleanliness and related cleaning objects. The glass curtain wall cleaning drone system consists of a multi-rotor drone, high-altitude cables, a ground integrated control box, a generator, a ground station, an RTK base station, an integrated data sensor device, an intelligent high-altitude cleaning device, and other parts.

[0003] When a high-altitude curtain wall cleaning drone is working, a flight signal is sent by the control terminal. The drone moves to a designated position under the drive of a drive unit, and then cleans the glass curtain wall at the designated position. The current high-altitude curtain wall cleaning drone lacks an automatic positioning and navigation system. During flight, the positioning of the curtain wall cleaning drone is achieved according to the real-time control of the control terminal, and adaptive navigation cannot be achieved according to the preset working coordinate points. Therefore, when operating the drone, the working position of the drone cannot be accurately navigated. Therefore, a flight navigation system and method for a high-altitude curtain wall cleaning drone is proposed. Summary of the invention

[0004] In view of this, the present invention provides a high-altitude curtain wall cleaning UAV flight navigation system and method to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0005] The technical solution of the embodiment of the present invention is implemented as follows: a high-altitude curtain wall cleaning drone flight navigation system, including an image acquisition module, an image processing module, an image three-dimensional modeling module, an ultrasonic ranging module, a driving module, an airborne GNSS positioning module, a data transmission module, a wireless communication module, a coordinate analysis module, a data processing module, a display module and an operation panel, wherein the signal sending end of the image acquisition module is connected to the signal receiving end of the image processing module, the signal sending end of the image processing module is connected to the signal receiving end of the image three-dimensional modeling module, the signal sending end of the airborne GNSS positioning module is connected to the signal receiving end of the data transmission module, the signal sending end of the image three-dimensional modeling module is connected to the signal receiving end of the data transmission module, the signal sending end of the wireless communication module is connected to the signal receiving end of the coordinate analysis module, the signal sending end of the coordinate analysis module is connected to the signal receiving end of the driving module, and the signal sending end of the ultrasonic ranging module is connected to the signal receiving end of the data transmission module;

[0006] The signal sending end of the data processing module is connected to the signal receiving end of the display module, and the signal sending end and the signal receiving end of the operation panel are connected to the signal receiving end and the signal sending end of the display module;

[0007] The image acquisition module is used to acquire the image of the surface to be cleaned of the glass curtain wall. The curtain wall cleaning drone drives the image acquisition module to move along the glass curtain wall to acquire the image of the entire surface to be cleaned, and then sends the acquired image to the image processing module;

[0008] The image processing module is used to process the collected image of the surface to be cleaned, improve the quality of the image by image enhancement, extract the glass curtain wall in the image and perform clarity processing, and then send the image to the image 3D modeling module;

[0009] The image 3D modeling module is used to build a 3D model of the surface to be cleaned of the glass curtain wall, scale it in the same proportion as the actual glass curtain wall, and then send the 3D model to the data transmission module;

[0010] The airborne GNSS positioning module is used to perform real-time positioning of the curtain wall cleaning drone. When the curtain wall cleaning drone collects images of the curtain wall, the edge points of the curtain wall cleaning drone can be located to limit the image collection range, and then the positioning information is sent to the data transmission module.

[0011] Further preferably, the signal sending end of the data transmission module is connected to the signal receiving end of the data processing module, and the data transmission module is used to transmit the three-dimensional image data and the positioning information of the curtain wall cleaning drone to the data processing module.

[0012] Further preferably, the data processing module is used to process and analyze the three-dimensional image data and the positioning information of the curtain wall cleaning drone, and then send the data to the display module, and the display module is used to display the three-dimensional model of the curtain wall and the current position of the curtain wall cleaning drone in the three-dimensional model.

[0013] Further preferably, the ultrasonic ranging module is used to measure the distance between the curtain wall cleaning drone and the curtain wall, the operation panel is used to input the working coordinate points, the working coordinate points of the curtain wall cleaning drone are displayed in the display module, and then the coordinate information is sent to the wireless communication module.

[0014] Further preferably, the wireless communication module is used for sending and receiving signals, and the wireless communication module sends the working coordinate point to the coordinate analysis module.

[0015] Further preferably, the coordinate analysis module is used to analyze the coordinate position and then send the position information to the driving module, and the driving module is used to drive the curtain wall cleaning drone to move to the working coordinate point.

[0016] Further preferably, the signal receiving end of the driving module is connected to a radar obstacle avoidance module, and the radar obstacle avoidance module is used to monitor obstacles around the curtain wall cleaning drone.

[0017] Further preferably, the data transmission module transmits the positioning information of the curtain wall cleaning drone in real time, and the positioning information of the curtain wall cleaning drone is displayed in real time in the display module.

[0018] In addition, the present invention also provides a navigation method for a high-altitude curtain wall cleaning UAV flight navigation system, comprising the following steps:

[0019] Step 1: Control the curtain wall cleaning drone to move along the surface of the curtain wall to be cleaned through the control terminal, and the image acquisition module acquires images of the surface of the curtain wall to be cleaned;

[0020] Step 2: Process the image through the image processing module to improve the image quality, and then send the image to the image 3D modeling module;

[0021] Step 3: The image 3D modeling module performs 3D modeling on the curtain wall, and then sends the 3D model to the control terminal through the data transmission module, and displays it through the display module;

[0022] Step 4: The positioning information of the curtain wall cleaning drone and the distance data between the curtain wall cleaning drone and the curtain wall are displayed through the display module, and the display module displays the real-time position of the curtain wall cleaning drone in the three-dimensional modeling;

[0023] Step 5: Input the working coordinate points of the curtain wall cleaning drone through the operation panel, the wireless communication module sends the coordinate points to the coordinate analysis module, and the coordinate analysis module sends the resolved coordinate positions to the driving module;

[0024] Step 6: The driving module drives the curtain wall cleaning drone to move to the designated working coordinate point;

[0025] Step 7: When the curtain wall cleaning drone is moving, the display module updates and displays the location of the curtain wall cleaning drone in real time.

[0026] Further preferably, in step six, the curtain wall cleaning drone avoids obstacles through a radar obstacle avoidance module.

[0027] Since the embodiment of the present invention adopts the above technical scheme, it has the following advantages: the present invention collects and processes images of the surface to be cleaned of the curtain wall through an image acquisition module and an image processing module, performs three-dimensional modeling of the curtain wall through an image three-dimensional modeling module and displays it through a display module, and then the display module can display the real-time position of the curtain wall cleaning drone in the three-dimensional modeling, and send the coordinate point to the coordinate analysis module through the wireless communication module, and then the driving module can drive the curtain wall cleaning drone to move to the specified working coordinate point, so as to accurately navigate the working position of the drone, and at the same time, the display module updates and displays the location of the curtain wall cleaning drone in real time.

[0028] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 is a system diagram of the present invention;

[0031] Figure 2 It is a flow chart of the steps of the present invention. DETAILED DESCRIPTION

[0032] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0033] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] like Figure 1-2 As shown, an embodiment of the present invention provides a high-altitude curtain wall cleaning UAV flight navigation system, including an image acquisition module, an image processing module, an image three-dimensional modeling module, an ultrasonic ranging module, a driving module, an airborne GNSS positioning module, a data transmission module, a wireless communication module, a coordinate analysis module, a data processing module, a display module and an operation panel, wherein a signal sending end of the image acquisition module is connected to a signal receiving end of the image processing module, a signal sending end of the image processing module is connected to a signal receiving end of the image three-dimensional modeling module, a signal sending end of the airborne GNSS positioning module is connected to a signal receiving end of the data transmission module, a signal sending end of the image three-dimensional modeling module is connected to a signal receiving end of the data transmission module, a signal sending end of the wireless communication module is connected to a signal receiving end of the coordinate analysis module, a signal sending end of the coordinate analysis module is connected to a signal receiving end of the driving module, and a signal sending end of the ultrasonic ranging module is connected to a signal receiving end of the data transmission module;

[0035] The signal sending end of the data processing module is connected to the signal receiving end of the display module, and the signal sending end and the signal receiving end of the operation panel are connected to the signal receiving end and the signal sending end of the display module;

[0036] The image acquisition module is used to acquire the image of the surface to be cleaned of the glass curtain wall. The curtain wall cleaning drone drives the image acquisition module to move along the glass curtain wall to acquire the image of the entire surface to be cleaned, and then sends the acquired image to the image processing module;

[0037] The image processing module is used to process the collected image of the surface to be cleaned, improve the quality of the image by image enhancement, extract the glass curtain wall in the image and perform clarity processing, and then send the image to the image 3D modeling module;

[0038] The image 3D modeling module is used to build a 3D model of the surface to be cleaned of the glass curtain wall, scale it in the same proportion as the actual glass curtain wall, and then send the 3D model to the data transmission module;

[0039] The onboard GNSS positioning module is used to perform real-time positioning of the curtain wall cleaning drone. When the curtain wall cleaning drone collects images of the curtain wall, the edge points of the curtain wall cleaning drone can be located to limit the image collection range, and then the positioning information is sent to the data transmission module.

[0040] In one embodiment, the signal sending end of the data transmission module is connected to the signal receiving end of the data processing module. The data transmission module is used to transmit the three-dimensional image data and the positioning information of the curtain wall cleaning drone to the data processing module. The data processing module is used to process and analyze the three-dimensional image data and the positioning information of the curtain wall cleaning drone, and then send the data to the display module. The display module is used to display the three-dimensional model of the curtain wall and the current position of the curtain wall cleaning drone in the three-dimensional model. The ultrasonic ranging module is used to measure the distance between the curtain wall cleaning drone and the curtain wall. The operation panel is used to input the working coordinate point. In the display module, the working coordinate point of the curtain wall cleaning drone is displayed, and then the coordinate information is sent to the wireless communication module, so that the image acquisition and modeling of the glass curtain wall can be realized, and then the three-dimensional modeling is displayed in the control terminal, and the location of the curtain wall cleaning drone can be intuitively seen.

[0041] In one embodiment, the wireless communication module is used to send and receive signals. The wireless communication module sends the working coordinate point to the coordinate analysis module. The coordinate analysis module is used to parse the coordinate position and then send the position information to the driving module. The driving module is used to drive the curtain wall cleaning drone to move to the working coordinate point. The signal receiving end of the driving module is connected to a radar obstacle avoidance module. The radar obstacle avoidance module is used to monitor obstacles around the curtain wall cleaning drone, thereby realizing automatic obstacle avoidance flight of the curtain wall cleaning drone. By setting the working coordinate point, automatic flight navigation of the curtain wall cleaning drone can be realized.

[0042] In one embodiment, the data transmission module transmits the positioning information of the curtain wall cleaning drone in real time, and the positioning information of the curtain wall cleaning drone is displayed in real time in the display module, so that the position of the curtain wall cleaning drone can be updated in real time.

[0043] In addition, the present invention also provides a navigation method for a high-altitude curtain wall cleaning UAV flight navigation system, comprising the following steps:

[0044] Step 1: Control the curtain wall cleaning drone to move along the surface of the curtain wall to be cleaned through the control terminal, and the image acquisition module acquires images of the surface of the curtain wall to be cleaned;

[0045] Step 2: Process the image through the image processing module to improve the image quality, and then send the image to the image 3D modeling module;

[0046] Step 3: The image 3D modeling module performs 3D modeling on the curtain wall, and then sends the 3D model to the control terminal through the data transmission module, and displays it through the display module;

[0047] Step 4: The positioning information of the curtain wall cleaning drone and the distance data between the curtain wall cleaning drone and the curtain wall are displayed through the display module, and the display module displays the real-time position of the curtain wall cleaning drone in the three-dimensional modeling;

[0048] Step 5: Input the working coordinate points of the curtain wall cleaning drone through the operation panel, the wireless communication module sends the coordinate points to the coordinate analysis module, and the coordinate analysis module sends the resolved coordinate positions to the driving module;

[0049] Step 6: The driving module drives the curtain wall cleaning drone to move to the designated working coordinate point;

[0050] Step 7: When the curtain wall cleaning drone is moving, the display module updates and displays the location of the curtain wall cleaning drone in real time.

[0051] In one embodiment, in step six, the curtain wall cleaning drone avoids obstacles through a radar obstacle avoidance module, thereby enabling the curtain wall cleaning drone to automatically avoid obstacles.

[0052] When the present invention is working: the control terminal controls the curtain wall cleaning drone to move along the surface to be cleaned of the curtain wall, the image acquisition module acquires images of the surface to be cleaned of the curtain wall, the image processing module processes the images to improve the quality of the images, and then sends the images to the image three-dimensional modeling module, the image three-dimensional modeling module performs three-dimensional modeling of the curtain wall, and then sends the three-dimensional model to the control terminal through the data transmission module, and displays it through the display module, the positioning information of the curtain wall cleaning drone and the distance data between the curtain wall cleaning drone and the curtain wall are displayed through the display module, the display module displays the real-time position of the curtain wall cleaning drone in the three-dimensional modeling, the working coordinate point of the curtain wall cleaning drone is input through the operation panel, the wireless communication module sends the coordinate point to the coordinate analysis module, the coordinate analysis module sends the resolved coordinate position to the driving module, the driving module drives the curtain wall cleaning drone to move to the specified working coordinate point, and during the movement of the curtain wall cleaning drone, the display module updates and displays the location of the curtain wall cleaning drone in real time.

[0053] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A high-altitude curtain wall cleaning drone flight navigation system, including an image acquisition module, an image processing module, an image three-dimensional modeling module, an ultrasonic ranging module, a driving module, an airborne GNSS positioning module, a data transmission module, a wireless communication module, a coordinate analysis module, a data processing module, a display module and an operation panel, characterized in that: The signal sending end of the image acquisition module is connected to the signal receiving end of the image processing module, the signal sending end of the image processing module is connected to the signal receiving end of the image three-dimensional modeling module, the signal sending end of the airborne GNSS positioning module is connected to the signal receiving end of the data transmission module, the signal sending end of the image three-dimensional modeling module is connected to the signal receiving end of the data transmission module, the signal sending end of the wireless communication module is connected to the signal receiving end of the coordinate analysis module, the signal sending end of the coordinate analysis module is connected to the signal receiving end of the driving module, and the signal sending end of the ultrasonic ranging module is connected to the signal receiving end of the data transmission module; The signal sending end of the data processing module is connected to the signal receiving end of the display module, and the signal sending end and the signal receiving end of the operation panel are connected to the signal receiving end and the signal sending end of the display module; The image acquisition module is used to acquire the image of the surface to be cleaned of the glass curtain wall. The curtain wall cleaning drone drives the image acquisition module to move along the glass curtain wall to acquire the image of the entire surface to be cleaned, and then sends the acquired image to the image processing module; The image processing module is used to process the collected image of the surface to be cleaned, improve the quality of the image by image enhancement, extract the glass curtain wall in the image and perform clarity processing, and then send the image to the image 3D modeling module; The image 3D modeling module is used to build a 3D model of the surface to be cleaned of the glass curtain wall, scale it in the same proportion as the actual glass curtain wall, and then send the 3D model to the data transmission module; The airborne GNSS positioning module is used to perform real-time positioning of the curtain wall cleaning drone. When the curtain wall cleaning drone collects images of the curtain wall, the edge points of the curtain wall cleaning drone can be located to limit the image collection range, and then the positioning information is sent to the data transmission module.

2. The high-altitude curtain wall cleaning drone flight navigation system according to claim 1 is characterized by: The signal sending end of the data transmission module is connected to the signal receiving end of the data processing module, and the data transmission module is used to transmit the three-dimensional image data and the positioning information of the curtain wall cleaning drone to the data processing module.

3. The high-altitude curtain wall cleaning drone flight navigation system according to claim 2 is characterized by: The data processing module is used to process and analyze the three-dimensional image data and the positioning information of the curtain wall cleaning drone, and then send the data to the display module. The display module is used to display the three-dimensional model of the curtain wall and the current position of the curtain wall cleaning drone in the three-dimensional model.

4. The high-altitude curtain wall cleaning drone flight navigation system according to claim 1 is characterized by: The ultrasonic ranging module is used to measure the distance between the curtain wall cleaning drone and the curtain wall, the operation panel is used to input the working coordinate points, the working coordinate points of the curtain wall cleaning drone are displayed in the display module, and then the coordinate information is sent to the wireless communication module.

5. The high-altitude curtain wall cleaning drone flight navigation system according to claim 4 is characterized by: The wireless communication module is used for sending and receiving signals, and the wireless communication module sends the working coordinate points to the coordinate analysis module.

6. The high-altitude curtain wall cleaning UAV flight navigation system according to claim 5 is characterized by: The coordinate analysis module is used to analyze the coordinate position and then send the position information to the driving module, and the driving module is used to drive the curtain wall cleaning drone to move to the working coordinate point.

7. The high-altitude curtain wall cleaning UAV flight navigation system according to claim 6 is characterized by: The signal receiving end of the driving module is connected to a radar obstacle avoidance module, and the radar obstacle avoidance module is used to monitor obstacles around the curtain wall cleaning drone.

8. The high-altitude curtain wall cleaning drone flight navigation system according to claim 2 is characterized by: The data transmission module transmits the positioning information of the curtain wall cleaning drone in real time, and the positioning information of the curtain wall cleaning drone is displayed in real time in the display module.

9. The navigation method of a high-altitude curtain wall cleaning UAV flight navigation system according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Control the curtain wall cleaning drone to move along the surface of the curtain wall to be cleaned through the control terminal, and the image acquisition module acquires images of the surface of the curtain wall to be cleaned; Step 2: Process the image through the image processing module to improve the image quality, and then send the image to the image 3D modeling module; Step 3: The image 3D modeling module performs 3D modeling on the curtain wall, and then sends the 3D model to the control terminal through the data transmission module, and displays it through the display module; Step 4: The positioning information of the curtain wall cleaning drone and the distance data between the curtain wall cleaning drone and the curtain wall are displayed through the display module, and the display module displays the real-time position of the curtain wall cleaning drone in the three-dimensional modeling; Step 5: Input the working coordinate points of the curtain wall cleaning drone through the operation panel, the wireless communication module sends the coordinate points to the coordinate analysis module, and the coordinate analysis module sends the resolved coordinate positions to the driving module; Step 6: The driving module drives the curtain wall cleaning drone to move to the designated working coordinate point; Step 7: When the curtain wall cleaning drone is moving, the display module updates and displays the location of the curtain wall cleaning drone in real time.

10. The navigation method of a high-altitude curtain wall cleaning UAV flight navigation system according to claim 9, characterized in that: In step six, the curtain wall cleaning drone avoids obstacles through a radar obstacle avoidance module.

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