High-altitude dangerous object cleaning system and method

Abstract

The invention discloses a high-altitude danger object cleaning system and method. According to the main technical scheme, the high-altitude danger object cleaning system comprises a processor, a collector, a marching device and a cleaner; wherein the processor is used for selecting a cleaning area from the building facade based on facade characteristics of the building facade; the collector is used for collecting an image of the cleaning area; the processor is further used for identifying object features of high-altitude dangers included in the cleaning area and position data of the high-altitude dangers in the building facade based on the image of the cleaning area; based on the object features and the position data, target position data and cleaning control parameters needed by the cleaner for cleaning the high-altitude danger are determined, and the target position data are used for indicating a target position where the cleaner needs to be located for cleaning the high-altitude danger; the advancing device is used for conveying the cleaner to a target position indicated by the target position data; and the cleaner is used for carrying out cleaning operation on the high-altitude dangerous objects at the target position based on the cleaning control parameters.

Description

Technical Field

[0001] The present application relates to the technical field of high-altitude hazardous material cleaning, and in particular to a high-altitude hazardous material cleaning system and method. Background Art

[0002] With the continuous development of construction engineering technology, high-rise buildings have gradually become one of the mainstream buildings in cities. However, objects such as falling objects on the facades of high-rise buildings or flower pots on the balconies of high-rise buildings may fall from high altitudes and injure pedestrians or vehicles passing by, causing personal injury or property damage. Therefore, it is necessary to clean up potential falling objects from high-rise buildings (such as balcony flower pots), walls that may fall off, and other high-altitude dangerous objects.

[0003] At present, manual inspection is usually used to clear high-altitude dangerous objects. However, manual inspection requires inspectors to climb to the facade of high-rise buildings to inspect high-altitude dangerous objects and manually clean up the high-altitude dangerous objects found during the inspection. This manual inspection method is not only inefficient but also difficult to ensure the safety of inspectors. Therefore, how to efficiently and safely clean up high-altitude dangerous objects has become an urgent problem to be solved. Summary of the invention

[0004] The present application proposes a system and method for clearing dangerous objects at high altitudes, the main purpose of which is to efficiently and safely clear dangerous objects at high altitudes.

[0005] In order to achieve the above objectives, this application mainly provides the following technical solutions:

[0006] In a first aspect, the present application provides a high-altitude hazardous material cleaning system, which includes a processor, a collector, a mover and a cleaner; wherein:

[0007] The processor is used to select a cleaning area from the building facade based on the facade features of the building facade;

[0008] The collector is used to collect images of the cleaning area;

[0009] The processor is further used to identify object features of high-altitude dangerous objects included in the cleaning area and position data on the building facade based on the image of the cleaning area; based on the object features and the position data, determine the target position data and cleaning control parameters required for the cleaner to clean the high-altitude dangerous objects, wherein the target position data is used to indicate the target position where the cleaner needs to be when cleaning the high-altitude dangerous objects;

[0010] The traveler is used to transport the cleaner to the target position indicated by the target position data;

[0011] The cleaner is used to perform a cleaning operation on the high-altitude dangerous objects at the target location based on the cleaning control parameters.

[0012] In the second aspect, the present application provides a method for clearing high-altitude dangerous objects, which method includes: selecting a cleaning area from the facade of a building based on the facade features of the building facade; collecting an image of the cleaning area; based on the image of the cleaning area, identifying the object features of the high-altitude dangerous objects included in the cleaning area and their position data in the facade of the building; based on the object features and the position data, determining the target position data and cleaning control parameters required for a preset cleaner to clean the high-altitude dangerous objects, the target position data being used to indicate the target position where the cleaner needs to be to clean the high-altitude dangerous objects; transporting the cleaner to the target position indicated by the target position data; controlling the cleaner to perform a cleaning operation on the high-altitude dangerous objects based on the cleaning control parameters at the target position.

[0013] In a third aspect, the present application provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the high-altitude hazardous material clearing method described in the second aspect.

[0014] The high-altitude dangerous object cleaning system and method provided by the present application, when it is necessary to clean the high-altitude dangerous objects on the facade of a building, select a cleaning area from the facade of the building based on the facade features of the building facade. Then, based on the image of the cleaning area, identify the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the building facade, and based on the object features and the position data, determine the cleaning control parameters required for the cleaner to clean the high-altitude dangerous objects and the target position data for indicating the target position where the cleaner needs to be to clean the high-altitude dangerous objects. Finally, transport the cleaner to the target position indicated by the target position data, and control the cleaner at the target position to perform a cleaning operation on the high-altitude dangerous objects based on the cleaning control parameters. It can be seen that the solution provided by the present application can identify the object characteristics of the high-altitude dangerous objects and their position data on the building facade based on the image of the building facade taken through image recognition technology when it is necessary to clear the high-altitude dangerous objects. Based on the position data, a cleaner with automatic cleaning function is transported to a position suitable for cleaning the high-altitude dangerous objects, and the cleaner is controlled at the transported position based on cleaning control parameters adapted to the object characteristics of the high-altitude dangerous objects to clean the high-altitude dangerous objects. In this way, efficient and safe cleaning of high-altitude dangerous objects can be achieved without manual inspection.

[0015] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of the structure of a high-altitude hazardous material cleaning system provided by an embodiment of the present application is shown;

[0018] Figure 2 A schematic structural diagram of a high-altitude hazardous material cleaning system provided by another embodiment of the present application is shown;

[0019] Figure 3 A flow chart of a method for clearing hazardous objects at high altitudes provided in one embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0021] At present, manual inspection is usually used to clear high-altitude dangerous objects, so as to clear high-altitude dangerous objects before they fall. However, the manual inspection method requires inspectors to climb to the facades of high-rise buildings to inspect high-altitude dangerous objects and manually clean up the high-altitude dangerous objects inspected. This not only has low cleaning efficiency but also makes it difficult to ensure the safety of inspectors.

[0022] After research, it was found that if images of the building facade are collected, and image recognition technology is used to identify the object characteristics of high-altitude dangerous objects and their position data on the building facade based on the captured images, and then a cleaner with automatic cleaning function is transported to a position suitable for the cleaner to clean high-altitude dangerous objects based on the position data, and the cleaner is controlled at this position based on cleaning control parameters adapted to the object characteristics of the high-altitude dangerous objects, the high-altitude dangerous objects are cleaned efficiently and safely without manual inspections.

[0023] Based on the above findings, the embodiment of the present application specifically proposes a high-altitude dangerous object cleaning system. The high-altitude dangerous object cleaning system provided in this embodiment includes a collector, a processor, a traveler and a cleaner. The processor is used to select a cleaning area from the facade of the building based on the facade features of the building facade. The collector is used to collect images of the cleaning area. The processor is also used to identify the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the building facade based on the image of the cleaning area, and based on the object features and position data, determine the target position data and cleaning control parameters required for the cleaner to clean the high-altitude dangerous objects. The target position data is used to indicate the target position where the cleaner needs to be to clean the high-altitude dangerous objects. The traveler is used to transport the cleaner to the target position indicated by the target position data. The cleaner is used to perform a cleaning operation on the high-altitude dangerous objects based on the cleaning control parameters at the target position. In this way, through the interactive cooperation between the collector, processor, traveler and cleaner included in the high-altitude dangerous object cleaning system, the high-altitude dangerous objects can be automatically identified and the identified high-altitude dangerous objects can be automatically cleaned, thereby achieving efficient and safe cleaning of high-altitude dangerous objects. Based on the above findings, the present embodiment also provides a method for clearing high-altitude dangerous objects. The method for clearing high-altitude dangerous objects provided in the present embodiment is specifically as follows: based on the facade features of the building facade, a cleaning area is selected from the building facade. An image of the cleaning area is acquired, and based on the image of the cleaning area, the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the building facade are identified. Based on the object features and the position data, the target position data and cleaning control parameters required for a preset cleaner to clean high-altitude dangerous objects are determined, and the target position data is used to indicate the target position where the cleaner needs to be to clean high-altitude dangerous objects. The cleaner is transported to the target position indicated by the target position data, and the cleaner is controlled to perform a cleaning operation on the high-altitude dangerous objects at the target position based on the cleaning control parameters.

[0024] The high-altitude hazardous object clearing system and method provided in this embodiment can clear high-altitude hazardous objects that have not yet fallen from high altitudes and have the risk of falling from high altitudes, such as potential falling objects (for example, balcony flower pots) and walls that may fall off, in advance, to avoid these high-altitude hazardous objects from falling from high altitudes and causing damage to personnel or property. It should be noted that when the high-altitude hazardous object clearing system or method provided in this embodiment is used to clear high-altitude hazardous objects from any high-rise building, it is necessary to set a temporary control area with the high-rise building as the center, and restrict pedestrians, vehicles and other objects from entering the temporary control area, so as to prevent the cleared high-altitude hazardous objects from falling and damaging the objects entering the temporary control area.

[0025] The high-altitude hazardous material cleaning system and method provided in this embodiment can be applied to any type of high-rise building for high-altitude hazardous material cleaning, and this embodiment does not limit the type of high-rise building. Exemplarily, high-rise buildings can include but are not limited to any of the following types: high-rise residential buildings, high-rise office buildings, tower buildings, etc. It should be noted that the definition of high-rise buildings in this embodiment can be set based on actual business requirements, and this embodiment does not limit it. For example, buildings higher than 3 meters are defined as high-rise buildings.

[0026] The high-altitude hazardous material clearing system and method provided in this embodiment are described in detail below.

[0027] The present application embodiment provides a high-altitude hazardous material cleaning system, such as Figure 1 As shown, the high-altitude hazardous material cleaning system provided in this embodiment may include at least a collector 11, a processor 12, a mover 13 and a cleaner 14. The interactive relationship between the collector 11, the processor 12, the mover 13 and the cleaner 14 is as follows:

[0028] The processor 12 is used to select a cleaning area from the building facade based on the facade features of the building facade.

[0029] The collector 11 is used to collect images of the cleaning area.

[0030] The processor 12 is also used to identify the object characteristics of high-altitude dangerous objects included in the cleaning area and the position data of the high-altitude dangerous objects in the building facade based on the image of the cleaning area; based on the object characteristics and the position data, determine the target position data and cleaning control parameters required by the cleaner 14 to clean the high-altitude dangerous objects, and the target position data is used to indicate the target position where the cleaner 14 needs to be to clean the high-altitude dangerous objects.

[0031] The traveler 13 is used to transport the cleaner 14 to the target position indicated by the target position data.

[0032] The cleaner 14 is used to perform cleaning operations on high-altitude dangerous objects at the target location based on cleaning control parameters.

[0033] The following is a detailed description of the specific structure and interaction of each component involved in the high-altitude hazardous material cleaning system:

[0034] Collector 11:

[0035] The collector 11 is used to collect images of a clean area in the building facade. The clean area is an area selected from the building facade by the processor 12 based on the facade features of the building facade, and the clean area is an area where high-altitude dangerous objects are likely to exist.

[0036] In some embodiments, the processor 12 selects a specific solution for cleaning the area from the building facade based on the facade features of the building facade: Figure 2 As shown, the collector 11 is also used to collect the overall image of the building facade. The processor 12 may include: a first determination module 121, used to identify the overall image and obtain the facade features of the facade; based on the facade features, the building facade is divided into multiple target areas; the priority ranking of each target area is set; according to the priority ranking, each target area is selected as a cleaning area in turn.

[0037] The high-altitude hazardous material cleaning system is used to clean up high-altitude hazardous materials on the facades of buildings. Based on this, when using the high-altitude hazardous material cleaning system, first determine the building facades that need to be cleaned of high-altitude hazardous materials, so that the high-altitude hazardous material cleaning system can be used to carry out targeted high-altitude hazardous material cleaning on the determined building facades. The specific process of determining the building facades that need to be cleaned of high-altitude hazardous materials can include the following steps: select a building; if all building facades of the building need to be cleaned of high-altitude hazardous materials, then determine the building facades of the building in turn as the building facades that need to be cleaned of high-altitude hazardous materials; if the user specifies that the designated building facade of the building needs to be cleaned of high-altitude hazardous materials, then determine the designated building facade as the building facade that needs to be cleaned of high-altitude hazardous materials. Exemplarily, building 1 includes building facades 1 to building facades 4. If all building facades of building 1 need to be cleared of high-altitude hazardous objects, building facades 1 to 4 are determined in turn as building facades that need to be cleared of high-altitude hazardous objects. If the user specifies that building facade 1 needs to be cleared of high-altitude hazardous objects, building facade 1 is determined as the building facade that needs to be cleared of high-altitude hazardous objects.

[0038] If the high-altitude dangerous objects are cleared according to the overall image of the building facade, although the number of images required for the high-altitude dangerous objects clearing can be reduced, the overall image includes more information, which will cause the image recognition efficiency to be low, making it difficult to quickly perform image recognition, thereby affecting the efficiency of clearing high-altitude dangerous objects. Based on this, after determining the building facade that needs to be cleared of high-altitude dangerous objects, this embodiment collects the overall image of the building facade through the collector 11, and then recognizes the overall image through the first determination module 121 in the processor 12 to obtain the facade features of the facade, and based on the facade features, the building facade is divided into multiple target areas, and the priority ranking of each target area is set. Finally, each target area is selected as a clearing area in turn according to the priority ranking. In this way, high-altitude dangerous objects can be cleared in units of clearing areas. The area of ​​the clearing area is relatively small, so the image of the clearing area collected includes less information, and the image of the clearing area can be quickly recognized later, and the high-altitude dangerous objects clearing is quickly performed based on the recognition result, thereby improving the efficiency of clearing high-altitude dangerous objects.

[0039] In some embodiments, when the collector 11 collects the overall image of the building facade, the processor 12 can calculate the best position point for collecting the overall image based on the overall size of the building facade, and then the mover 13 transports the collector 11 to the best position point, and controls the collector 11 to collect the overall image of the building facade at the best position point. The best position point is a position point that supports the collector 11 to clearly collect the overall image of the building facade.

[0040] In some embodiments, after acquiring the overall image collected by the collector 11, the first determination module 121 performs facade feature recognition on the overall image through a preset model for identifying facade features, and obtains the facade features of the building facade. The model for identifying facade features is trained based on multiple groups of data, wherein each group of data includes a sample image and the facade features corresponding to the sample image. Specifically, the facade features may include but are not limited to the facade objects existing on the building facade and the coordinate range occupied by each facade object in the building facade. The facade objects here may include but are not limited to: walls, balconies, windows, air conditioners, etc. In some embodiments, after identifying the facade features of the building facade, the first determination module 121 divides the building facade into multiple target areas based on the facade features, so as to use these target areas as cleaning areas and perform high-altitude dangerous objects cleaning in turn. The scheme of the first determination module 121 dividing the building facade into multiple target areas based on the facade features may at least include the following scheme A1 and scheme A2:

[0041] Solution A1, the first determination module 121 is specifically used to execute for each facade object included in the facade feature: dividing the coordinate range occupied by the current facade object in the area corresponding to the building facade into a target area.

[0042] Considering that if there is only one facade object in the same target area, the high-altitude dangerous objects in the target area are most likely of the same type, so it is possible to centrally identify and clear the high-altitude dangerous objects of the same type, thereby improving the effect and efficiency of clearing the high-altitude dangerous objects. Based on this, the first determination module 121 performs the following steps for each facade object: the coordinate range occupied by the current facade object in the area corresponding to the building facade is divided into the target area. Exemplarily, the building facade feature includes the facade object "balcony 1", then the coordinate range 1 occupied by balcony 1 in the area corresponding to the building facade is divided into the target area.

[0043] Scheme A2, the first determination module 121, is specifically used to execute for each facade object included in the facade feature: detect whether the coordinate range occupied by the facade object is greater than the target coordinate range, the target coordinate range is the coordinate range in which the collector 11 clearly captures the image; if greater, divide the coordinate range occupied by the facade object into at least two sub-coordinate ranges, and divide the area corresponding to each sub-coordinate range on the facade of the building into the target area, and each sub-coordinate range is not greater than the target coordinate range; if not greater, divide the coordinate range occupied by the facade object into the area corresponding to the facade of the building as the target area.

[0044] The image based on which the high-altitude dangerous objects are cleared is collected by the collector 11. If the image collected by the collector 11 is not clear, it will inevitably lead to the accuracy of image recognition, which may cause some high-altitude dangerous objects to be not cleared or not cleaned up. Based on this, the first determination module 121 uses the target viewing angle range of the collector 11 as one of the division factors when dividing the target area. Specifically, the target coordinate range is set based on the target viewing angle range of the collector 11. The target coordinate range is the coordinate range that supports the collector 11 to clearly collect images, and it supports the images collected by the collector 11 to reach a preset clarity. In this way, the first determination module 121 performs the following steps for each facade object included in the facade feature: detect whether the coordinate range occupied by the current facade object is greater than the target coordinate range.

[0045] If it is detected that the coordinate range occupied by the current facade object is larger than the target coordinate range, it means that if the corresponding target area is set based on the coordinate range occupied by the current facade object, then after the target area is selected as the cleaning area, it will be difficult for the collector 11 to collect a clear image of the cleaning area. Therefore, it is necessary to divide the coordinate range occupied by the facade object into at least two sub-coordinate ranges, and divide the area corresponding to each sub-coordinate range on the building facade into the target area, and each sub-coordinate range is not larger than the target coordinate range. The specific process of dividing the coordinate range occupied by the facade object into at least two sub-coordinate ranges may include: determining the ratio between the area corresponding to the coordinate range occupied by the facade object and the area corresponding to the target coordinate range; rounding the ratio up to obtain the target value; and evenly dividing the coordinate range occupied by the facade object into target value target areas.

[0046] If it is detected that the coordinate range occupied by the current facade object is not larger than the target coordinate range, it means that if the corresponding target area is set based on the coordinate range occupied by the current facade object, after the target area is selected as the cleaning area, the collector 11 can collect a clear image of the cleaning area, and therefore directly divide the coordinate range occupied by the facade object into the area corresponding to the facade of the building as the target area.

[0047] The above-mentioned first determination module 121 divides the building facade into multiple target areas based on the facade features. The schemes A1 and A2 can be flexibly selected for use based on business needs, and this embodiment does not limit this.

[0048] In some embodiments, after the first determination module 121 divides the building facade into multiple target areas based on the facade features, in order to be able to orderly realize the high-altitude dangerous objects cleaning of the building facade based on the target areas, the first determination module 121 needs to set the priority ranking of each target area, so as to select each target area as the cleaning area in turn according to the priority ranking. The scheme for setting the priority ranking of each target area by the first determination module 121 may include the following scheme B1 and scheme B2:

[0049] Solution B1, the first determination module 121 is specifically used to set the priority order of each target area according to the horizontal S-shaped order or the vertical S-shaped order. In this way, each target area can be selected as a cleaning area one by one to clean up high-altitude dangerous objects, so as to reduce the possibility of missing the cleaning of high-altitude dangerous objects in the target area.

[0050] Solution B2, the first determination module 121 is specifically used to determine the object type of the facade object corresponding to each target area, and the object type is used to indicate the probability of the existence of high-altitude dangerous objects in the corresponding target area; based on the probability indicated by the object type, the priority ranking of each target area is set.

[0051] The facade object has a corresponding object type, which is used to indicate the probability of the existence of high-altitude dangerous objects in the corresponding target area, and different object types have different probabilities of the existence of high-altitude dangerous objects. For example, if the facade object is a wall, its corresponding object type is the wall type. If the facade object is a balcony, its corresponding object type is the balcony type. The probability of the existence of high-altitude dangerous objects in the balcony type is greater than that in the wall type.

[0052] Based on this, if it is necessary to identify high-altitude dangerous objects as soon as possible for cleaning, the first determination module 121 determines the probability of the object type indication of the facade object corresponding to each target area, and sets the priority of each target area in order from high to low probability. On the contrary, if it is necessary to prioritize the exclusion of target areas without high-altitude dangerous objects so as to conduct centralized cleaning of high-altitude dangerous objects in target areas with high-altitude dangerous objects, the first determination module 121 determines the probability of the object type indication of the facade object corresponding to each target area, and sets the priority of each target area in order from low to high probability. It should be noted that if it is necessary to prioritize the cleaning of a target area with a certain facade object, the target area with this facade object can be set to the highest priority, and other target areas continue to be prioritized according to the size of the probability.

[0053] The schemes B1 and B2 for setting the priority ranking of each target area by the first determination module 121 can be flexibly selected for use based on business needs, and this embodiment does not limit this.

[0054] In some embodiments, after setting the priority ranking of each target area, the first determination module 121 selects each target area as a cleaning area in turn according to the priority ranking. Each time a cleaning area is selected, the processor 12 can calculate the best position at which the collector 11 can clearly capture the image of the currently selected cleaning area, and the mover 13 calculates the collector 11 to the best position, and the collector 11 captures the image of the currently selected cleaning area at the best position, so that the high-altitude hazardous object cleaning system provided in this embodiment can realize high-altitude hazardous object cleaning for the currently selected cleaning area based on the image of the currently selected cleaning area.

[0055] Processor 12:

[0056] After the collector 11 collects the image of the cleaning area, the processor 12 determines whether there are high-altitude dangerous objects in the cleaning area based on the image of the cleaning area, so as to clear the high-altitude dangerous objects if it is determined that there are high-altitude dangerous objects in the cleaning area.

[0057] The schemes in which the processor 12 determines whether there are high-altitude dangerous objects in the cleaning area based on the image of the cleaning area may include the following schemes C1 and C2:

[0058] In scheme C1, processor 12 is also used to identify the image of the cleaning area and obtain the high-falling object risk level of the objects included in the cleaning area; if there are objects whose high-falling object risk level reaches the target risk level, the corresponding object is determined as a high-altitude dangerous object included in the cleaning area.

[0059] The processor 12 identifies the high falling object risk level of the object in the image of the cleaning area through the model for identifying the high falling object risk level of the object, and obtains the object identified from the image and the high falling object risk level of the object. The model for identifying the high falling object risk level of the object is obtained by training multiple sets of data, wherein each set of data includes a sample image and the sample image includes an object and the corresponding high falling object risk level of the object.

[0060] The high-falling object risk level of an object is positively correlated with the probability that the object is a high-altitude dangerous object, that is, the higher the high-falling object risk level of the object, the greater the probability that the object is a high-altitude dangerous object. Based on this, after obtaining the high-falling object risk level of the objects included in the cleaning area, it is determined whether there are objects whose high-falling object risk level reaches the target risk level. If it is determined that there are no objects whose high-falling object risk level reaches the target risk level, it means that all objects identified from the image of the cleaning area are not high-altitude dangerous objects, and these objects are unlikely to fall from a high altitude. Therefore, a prompt is given that the cleaning area does not include high-altitude dangerous objects. If it is determined that there are objects whose high-falling object risk level reaches the target risk level, it means that the objects that reach the target risk level are more likely to fall from a high altitude. Therefore, the objects whose high-falling object risk level reaches the target risk level are identified as high-altitude dangerous objects existing in the cleaning area, so as to clean up these high-altitude dangerous objects.

[0061] In scheme C2, the processor 12 is also used to identify the image of the cleaning area, obtain object information of the objects included in the cleaning area, and the object information is used to describe the objects; mark the object information corresponding to the objects in the image of the cleaning area, and display the image marked with the object information; if there is object information selected, the object corresponding to the selected object information is determined as a high-altitude dangerous object included in the cleaning area.

[0062] The processor 12 recognizes the object information of the object in the image of the cleaning area through the model for recognizing the object information of the object, and obtains the object recognized from the image of the cleaning area and the object information of the object. The model for recognizing the object information of the object is obtained by training multiple sets of data, wherein each set of data includes a sample image and the object included in the sample image and the object information corresponding to the object. The object information is used to describe the object, and the object information may include but is not limited to at least one of the following: object name, object type (for example, a detached object that has fallen off from the wall and is not completely separated from the wall, a flower pot, etc.), object mass, object volume, object material, etc.

[0063] After identifying the object information of the object, the processor 12 marks the corresponding object in the image through the object information, and displays the image marked with the object information through the interactive interface, so that the business personnel can combine the object information of the object and the image of the object in the image to evaluate whether the object is a high-altitude dangerous object that needs to be cleared. After the business personnel evaluate the high-altitude dangerous object, they can select the object information of the object evaluated as a high-altitude dangerous object in the interactive interface by checking or other methods.

[0064] If the object information exists is selected, it means that the selected object information is the object information corresponding to the high-altitude dangerous object evaluated by the business personnel, so the object corresponding to the selected object information is identified as the high-altitude dangerous object existing in the high-altitude dangerous object clearing area. If the object information does not exist is selected, it means that the business personnel evaluates that there are no high-altitude dangerous objects in the clearing area based on the object information and the object image in the image, and therefore gives a prompt that the clearing area does not include high-altitude dangerous objects, so as to end the high-altitude dangerous object clearing operation for the clearing area based on the prompt.

[0065] The processor 12 determines whether there are high-altitude dangerous objects in the cleaning area based on the image of the cleaning area. The schemes C1 and C2 can flexibly select at least one of them for use based on business needs. It should be noted that when two schemes are selected at the same time, the high-altitude dangerous objects determined by the two schemes complement each other to more comprehensively identify the high-altitude dangerous objects in the high-altitude dangerous object cleaning area.

[0066] In some embodiments, if the processor 12 identifies the presence of high-altitude hazardous objects in the cleaning area based on the image of the cleaning area, it identifies the object characteristics of the high-altitude hazardous objects included in the cleaning area and the position data of the high-altitude hazardous objects in the building facade based on the image of the cleaning area, so that the mover 13 can transport the cleaner 14 to a position suitable for the cleaner 14 to clean the high-altitude hazardous objects based on the position data, so that the cleaner 14 can clean the high-altitude hazardous objects at this position based on the cleaning control parameters adapted to the object characteristics of the high-altitude hazardous objects.

[0067] In some embodiments, the specific process of the processor 12 identifying the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the building facade based on the image of the cleaning area can be: through the target model, the object features and position data of the image of the cleaning area are identified, and the object features of the high-altitude dangerous objects included in the cleaning area identified from the image and the position data in the building facade are obtained. The target model is obtained based on multiple sets of data training, wherein each set of data includes an image corresponding to the sample area, a coordinate range corresponding to the sample area, the object features of the high-altitude dangerous objects included in the sample area, and the position data of the high-altitude dangerous objects in the building facade. In this way, when identifying the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the building facade, the image corresponding to the cleaning area and the coordinate range corresponding to the cleaning area in the building facade are used as the target model input, and the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the building facade can be obtained through the target model. It should be noted that the cleaning area and the sample area in the data used for training the target model should use the same coordinate system.

[0068] In some embodiments, the processor 12 determines the target position data and cleaning control parameters required for the cleaner 14 to clean up high-altitude dangerous objects based on the object characteristics and position data. The scheme is related to the specific structure of the cleaner 14. Based on this, the processor 12 determines the target position data and cleaning control parameters required for the cleaner 14 to clean up high-altitude dangerous objects based on the object characteristics and position data. The scheme includes at least the following schemes D1 and D2:

[0069] Scheme D1, such as Figure 2 As shown, the cleaner 14 includes a pendulum module 141, and the cleaning control parameters include a swing speed and a swing direction adapted to the pendulum module 141 for cleaning high-altitude dangerous objects. The processor 12 may include: a second determination module 122, for determining the force required for the pendulum module 141 to clean up high-altitude dangerous objects based on the object characteristics of the high-altitude dangerous objects; selecting a swing speed adapted to the force and a first distance between the pendulum module 141 and the high-altitude dangerous objects; and determining the swing direction required for the pendulum module 141 to clean up high-altitude dangerous objects based on the position data of the high-altitude dangerous objects. A third determination module 123, for determining the target position data required for the pendulum module 141 to clean up high-altitude dangerous objects based on the position data of the high-altitude dangerous objects, the first distance and the swing direction.

[0070] The pendulum module 141 applies a force to the high-altitude dangerous objects by swinging, so that the high-altitude dangerous objects are separated from the building facade under the action of the force. Based on this, in order to achieve that the pendulum module 141 applies a force suitable for clearing the high-altitude dangerous objects to the high-altitude dangerous objects by swinging, the cleaning control parameters may include a swing speed and a swing direction suitable for the pendulum module 141 to clear the high-altitude dangerous objects.

[0071] The second determination module 122 uses the first model to determine the force required by the pendulum module 141 to clear the high-altitude dangerous objects based on the object characteristics of the high-altitude dangerous objects. The first model is used to identify and output the force required by the pendulum module 141 to clear the high-altitude dangerous objects based on the object characteristics of the high-altitude dangerous objects. The first model is trained based on multiple sets of data, wherein each set of data includes the object characteristics of the high-altitude dangerous objects and the force corresponding to the object characteristics.

[0072] After determining the force required by the pendulum module 141 to clear the high-altitude dangerous objects, the second determination module 122 needs to select a swing speed that is suitable for the force and a first distance between the pendulum module 141 and the high-altitude dangerous objects, so that the pendulum module 141 can apply the force to the high-altitude dangerous objects based on the swing speed and the first distance, and clear the high-altitude dangerous objects. The method of selecting the swing speed that is suitable for the force and the first distance between the pendulum module 141 and the high-altitude dangerous objects may include any one of the following two methods: one is to preset the swing speeds and first distances corresponding to a plurality of force intervals, determine the target force interval in which the force determined by the second determination module 122 is located, and select the swing speed and first distance corresponding to the target force as the swing speed that is suitable for the force and the first distance between the pendulum module 141 and the high-altitude dangerous objects. Another method is to train in advance a model for determining the swing speed and the distance between the pendulum module 141 and the high-altitude dangerous object. Based on the force required for the pendulum module 141 to clear the high-altitude dangerous object, the model can obtain the swing speed and the first distance between the pendulum module 141 and the high-altitude dangerous object that are adapted to the force. The model is trained based on multiple groups of data, each group of data includes the force and the swing speed corresponding to the force and the distance between the pendulum module 141 and the high-altitude dangerous object.

[0073] While determining the swing speed and the first distance between the pendulum module 141 and the high-altitude dangerous object, it is also necessary to determine the swing direction required for the pendulum module 141 to clear the high-altitude dangerous object based on the position data of the high-altitude dangerous object, so as to clarify in which direction the pendulum module 141 needs to apply force to the high-altitude dangerous object.

[0074] The position data of the high-altitude dangerous object specifically describes the position of the high-altitude dangerous object in the building facade, and the position data may include the position coordinates of the high-altitude dangerous object in the building facade, and the facade object where the high-altitude dangerous object is located. Based on this, the swing direction of the pendulum module 141 is determined by a model for determining the swing direction, wherein the model is obtained based on multiple sets of training, and each set of data includes the position data of the high-altitude dangerous object, the facade object where the high-altitude dangerous object is located, and the swing direction suitable for applying a force to the position indicated by the position data.

[0075] After determining the swing speed, the first distance between the pendulum module 141 and the high-altitude dangerous object, and the swing direction, the third determination module 123 determines the target position data required for the pendulum module 141 to clear the high-altitude dangerous object based on the position data of the high-altitude dangerous object, the first distance, and the swing direction, and the target position data is used to indicate the target position where the pendulum module 141 needs to be to clear the high-altitude dangerous object. The target position data can be obtained by a preset model for determining the target position data, wherein the model is obtained based on multiple sets of training data, each set of data includes the corresponding position data of the high-altitude dangerous object, the first distance and the swing direction, and the target position data required for the pendulum module 141 to clear the high-altitude dangerous object.

[0076] After determining the swing speed and swing direction of the pendulum module 141, as well as the target position data required for the pendulum module 141 to clear high-altitude dangerous objects, the traveler 13 can transport the pendulum module 141 to the target position indicated by the target position data, and the pendulum module 141 can swing in the swing direction at the target position at the swing speed to exert a force on the high-altitude dangerous objects that can clear the high-altitude dangerous objects, thereby clearing the high-altitude dangerous objects.

[0077] Scheme D2, such as Figure 2 As shown, the cleaner 14 includes a robot module 142, and the cleaning control parameters include the target force and extension direction of the robot module 142 for cleaning the high-altitude dangerous objects. The processor 12 may include: a fourth determination module 124, which is used to determine the target force required for the robot module 142 to clean the high-altitude dangerous objects based on the object characteristics of the high-altitude dangerous objects; based on the position data of the high-altitude dangerous objects, determine the extension direction required for the robot module 142 to clean the high-altitude dangerous objects. A fifth determination module 125 is used to determine the second distance between the robot module 142 and the high-altitude dangerous objects required for the robot module 142 to clean the high-altitude dangerous objects based on the extension length of the robot of the robot module 142 and the position data of the high-altitude dangerous objects; based on the position data of the high-altitude dangerous objects, the second distance and the extension direction, determine the target position data required for the robot module 142 to clean the high-altitude dangerous objects.

[0078] The robot module 142 applies a force to the high-altitude dangerous object so that the high-altitude dangerous object is separated from the building facade under the action of the force. Based on this, in order to achieve the robot module 142 applying a force suitable for clearing the high-altitude dangerous object to the high-altitude dangerous object, the cleaning control parameters may include a target force and extension direction suitable for the robot module 142 to clean the high-altitude dangerous object.

[0079] The fourth determination module 124 uses the second model to determine the target force required for the robot module 142 to clear the high-altitude dangerous object based on the object characteristics of the high-altitude dangerous object. The second model is used to identify and output the target force required for the robot module 142 to clear the high-altitude dangerous object based on the object characteristics of the high-altitude dangerous object. The second model is trained based on multiple sets of data, wherein each set of data includes the object characteristics of the high-altitude dangerous object and the target force corresponding to the object characteristics.

[0080] While determining the target force, the fourth determination module 124 also needs to determine the extension direction required by the robot module 142 to clear the high-altitude dangerous objects based on the position data of the high-altitude dangerous objects, so as to clarify in which direction the robot module 142 needs to apply force to the high-altitude dangerous objects.

[0081] The position data of the high-altitude dangerous object specifically describes the position of the high-altitude dangerous object in the building facade, and the position data may include the position coordinates of the high-altitude dangerous object in the building facade, and the facade object where the high-altitude dangerous object is located. Based on this, the extension direction of the robot hand module 142 is determined by a model for determining the extension direction, wherein the model is obtained based on multiple sets of training, and each set of data includes the position data of the high-altitude dangerous object, the facade object where the high-altitude dangerous object is located, and the extension direction suitable for applying a force to the position indicated by the position data.

[0082] After determining the target force and the stretching direction, the fifth determination module 125 determines the second distance between the robot module 142 and the high-altitude dangerous object required for the robot module 142 to clear the high-altitude dangerous object based on the stretching length of the robot of the robot module 142 and the position data of the high-altitude dangerous object, so as to ensure that the robot can operate the high-altitude dangerous object after stretching. Then, based on the position data, the second distance and the stretching direction of the high-altitude dangerous object, the target position data required for the robot module 142 to clear the high-altitude dangerous object is determined. The target position data is used to indicate the target position where the robot module 142 needs to be to clear the high-altitude dangerous object. The target position data can be obtained by a preset model for determining the target position data, wherein the model is obtained based on multiple sets of training data, and each set of data includes the corresponding position data of the high-altitude dangerous object, the second distance, the stretching direction, and the target position data required for the robot module 142 to clear the high-altitude dangerous object.

[0083] After determining the target force and extension direction of the robotic arm module 142, as well as the target position data required for the robotic arm module 142 to clear high-altitude dangerous objects, the mover 13 can transport the robotic arm module 142 to the target position indicated by the target position data, and the robotic arm module 142 can extend in the extension direction at the target position, and after the extension is completed, perform a grasping action with the target force, thereby clearing high-altitude dangerous objects.

[0084] The processor 12 determines the target position data and cleaning control parameters required by the cleaner 14 to clean up the high-altitude dangerous objects based on the object characteristics and position data. The schemes D1 and D2 can flexibly select at least one of them for use based on business needs, and this embodiment does not limit this. When the two are used in combination, the high-altitude dangerous objects can be cleaned up as thoroughly as possible.

[0085] Traveler 13:

[0086] The traveler 13 is used to carry the cleaner 14 and transport the cleaner 14 to the target position indicated by the target position data determined by the processor 12 .

[0087] The traveler 13 may include at least one of the following two forms: one is that the traveler 13 includes a drone module 131, which transports the cleaner 14 to the target location by flying, and hovers at the target location, so that the cleaner 14 can perform a cleaning operation on high-altitude dangerous objects at the target location based on the cleaning control parameters. Another is that the traveler 13 includes a wall-climbing robot module 132, which transports the cleaner 14 to the target location by crawling on the facade of the building, and stops at the target location, so that the cleaner 14 can perform a cleaning operation on high-altitude dangerous objects at the target location based on the cleaning control parameters.

[0088] The traveler 13 can select at least one of the above two forms based on business requirements, and this embodiment does not limit this. For example, when the traveler 13 includes both of the above two forms, the environment of the building facade can be evaluated first, and the form suitable for the environment can be selected for application. For example, the building facade is adjacent to many trees, which is not suitable for the drone module 131 to fly, so the wall climbing robot module 131 is used.

[0089] Cleaner 14:

[0090] The cleaner 14 is used to perform cleaning operations on high-altitude dangerous objects based on cleaning control parameters at the target location after being transported to the target location by the traveler 13.

[0091] The cleaning operation of the cleaner 14 on the high-altitude dangerous objects is related to the specific structure and specific cleaning control parameters of the cleaner 14. Based on this, the scheme of the cleaner 14 performing the cleaning operation on the high-altitude dangerous objects at the target position based on the cleaning control parameters may at least include the following schemes E1 and E2:

[0092] Scheme E1, such as Figure 2 As shown, the cleaner 14 includes a pendulum module 141, and the cleaning control parameters include a swing speed and a swing direction. Then, the pendulum module 141 is used to swing in the swing direction at a swing speed at a target position to achieve a force sufficient to clean up the high-altitude dangerous objects to completely clean up the high-altitude dangerous objects.

[0093] The pendulum module 141 is connected to the traveler 13 through a flexible medium. For example, when the traveler 13 is a drone module 131, the pendulum module 141 is connected below the drone module 131 through a flexible medium so that it can apply force to dangerous objects in the sky through swinging.

[0094] Scheme E2, such as Figure 2 As shown, the cleaner 14 includes a robot module 142, and the cleaning control parameters include a target force and a stretching direction. Then, the robot module 142 is used to stretch in the stretching direction at the target position, and after the stretching is completed, perform a grasping action with the target force, so as to achieve the use of a force that satisfies the cleaning of high-altitude dangerous objects to completely clean up the high-altitude dangerous objects.

[0095] The above-mentioned cleaner 14 performs cleaning operations on high-altitude dangerous objects at the target position based on the cleaning control parameters, and schemes E1 and E2 can flexibly select at least one for use based on business needs, and this embodiment does not limit this. It should be noted that when used in combination, the pendulum module 141 can be used for cleaning first. If the pendulum module 141 does not completely remove the high-altitude dangerous objects, the robot module 142 can be used for more accurate secondary cleaning to improve the efficiency of cleaning high-altitude dangerous objects. The cleaner 14 can clean up high-altitude dangerous objects with a risk of falling, thereby reducing the probability of high-altitude falling object accidents, thereby avoiding personal injury or financial damage.

[0096] The high-altitude dangerous object cleaning system provided in the embodiment of the present application, when it is necessary to clean the high-altitude dangerous objects on the facade of a building, selects a cleaning area from the facade of the building based on the facade features of the building facade. Then, based on the image of the cleaning area, the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the facade of the building are identified, and based on the object features and the position data, the cleaning control parameters required for the cleaner to clean the high-altitude dangerous objects and the target position data for indicating the target position where the cleaner needs to be to clean the high-altitude dangerous objects are determined. Finally, the cleaner is transported to the target position indicated by the target position data, and the cleaner is controlled at the target position to perform a cleaning operation on the high-altitude dangerous objects based on the cleaning control parameters. It can be seen that the solution provided in the embodiment of the present application can identify the object characteristics of the high-altitude dangerous objects and their position data on the building facade based on the image of the building facade taken through image recognition technology when it is necessary to clean up the high-altitude dangerous objects. Based on the position data, a cleaner with automatic cleaning function is transported to a position suitable for cleaning the high-altitude dangerous objects, and the cleaner is controlled at the transported position based on cleaning control parameters adapted to the object characteristics of the high-altitude dangerous objects to clean up the high-altitude dangerous objects. In this way, efficient and safe cleaning of high-altitude dangerous objects can be achieved without manual inspection.

[0097] In some embodiments of the present application, considering the possibility that the cleaner 14 may not be able to completely clean up the high-altitude dangerous objects, based on this, the collector 11 in the high-altitude dangerous object cleaning system provided in this embodiment can also be used to collect the first image of the cleaning area after the cleaner 14 performs a cleaning operation on the high-altitude dangerous objects. The processor 12 is also used to determine whether the high-altitude dangerous objects have been cleaned up based on the first image, and if not, obtain the current object features of the high-altitude dangerous objects based on the first image; and determine the target position data and cleaning control parameters required for the cleaner 13 to clean up the high-altitude dangerous objects that have not been cleaned up based on the current object features.

[0098] After the cleaner 14 performs a cleaning operation on the high-altitude dangerous objects, the collector 11 collects the first image of the cleaning area so that the processor 12 detects whether the high-altitude dangerous objects have been completely cleaned up through the first image. After acquiring the first image, the processor 12 uses the first image to identify whether there are still high-altitude dangerous objects or some objects among high-risk dangerous objects in the cleaning area. The identification process can be performed based on a preset model, and the preset model is obtained by training multiple groups of data, wherein each group of data includes a sample image and the high-altitude dangerous objects included in the sample image. If the processor 12 identifies that there are still high-altitude dangerous objects or some objects among high-risk dangerous objects in the cleaning area based on the first image, it is determined that the high-altitude dangerous objects have not been cleaned up. If the processor 12 does not identify that there are high-altitude dangerous objects or some objects among high-risk dangerous objects in the cleaning area based on the first image, it is determined that the high-altitude dangerous objects have been cleaned up.

[0099] When the processor 12 determines that the high-altitude dangerous objects have not been cleaned up, it is necessary to perform a secondary cleaning of the high-altitude dangerous objects to completely clean up the high-altitude dangerous objects. At this time, the processor 12 obtains the current object features of the high-altitude dangerous objects based on the first image, and determines the target position data and cleaning control parameters required by the cleaner 14 to clean up the high-altitude dangerous objects that have not been cleaned up based on the current object features. Specifically, the processor 12 recognizes the first image through a model for identifying object features to obtain the current object features of the cleaned high-altitude dangerous objects. The model for identifying object features is obtained based on multiple sets of data training, wherein each set of data includes an image and object features corresponding to the image. After identifying the current object features of the high-altitude dangerous objects, the target position data and cleaning control parameters required by the cleaner 14 to clean up the high-altitude dangerous objects that have not been cleaned up are determined based on the object features. The target position data and cleaning control parameters are basically the same as the process of first determining the target position data and cleaning control parameters for cleaning up the high-altitude dangerous objects, and will not be repeated here. After determining the target position data and cleaning control parameters required by the cleaner 14 to clean up the high-altitude dangerous objects that have not been cleaned up, the mover 13 transports the cleaner 14 to the target position indicated by the target position data, and then the cleaner 14 performs a cleaning operation on the high-altitude dangerous objects at the target position based on the cleaning control parameters. After the cleaning is completed, the collector 11 is triggered again to perform the step of collecting the first image of the cleaning area after the cleaner 14 performs the cleaning operation on the high-altitude dangerous objects, until the processor 12 determines that the high-altitude dangerous objects have been cleaned up based on the first image, so as to ensure that the high-altitude dangerous objects are completely removed, thereby eliminating the hidden danger of falling objects from high altitudes.

[0100] In some embodiments of the present application, considering that the high-altitude hazardous objects located on the balcony can be cleaned by removing them from the balcony, the cleaner 13 may not intervene in the cleaning. Based on this, the processor 12 provided in this embodiment can also be used to determine whether the high-altitude hazardous objects include the target high-altitude hazardous objects located on the balcony based on the position data of the high-altitude hazardous objects in the facade of the building. If included, the corresponding house number of the balcony is determined based on the position data of the target high-altitude hazardous object, and a high-altitude hazardous object alarm is generated for the house number.

[0101] The processor 12 can identify the location data of the high-altitude dangerous objects on the building facade through the location data recognition model based on the coordinate range of the clearing area on the building facade and the image of the clearing area. The location data recognition model is trained based on multiple sets of data, each set of data includes the location data of the high-altitude dangerous objects on the building facade, the coordinate range of the area where the high-altitude dangerous objects are located on the building facade, and the image of the area.

[0102] After determining the position data of the high-altitude dangerous object in the building facade, the processor 12 queries the coordinate range corresponding to each balcony in the building facade, and detects whether there is a target coordinate range including the coordinates corresponding to the position data of the high-altitude dangerous object in the coordinate range corresponding to the balcony. If there is a target coordinate range, it is determined that the high-altitude dangerous object includes the target high-altitude dangerous object located on the balcony, and the target high-altitude dangerous object is located on the balcony corresponding to the target coordinate range. If there is no target coordinate range, it is determined that the high-altitude dangerous object does not include the target high-altitude dangerous object located on the balcony.

[0103] When the processor 12 determines that the high-altitude dangerous objects include the target high-altitude dangerous object located on the balcony, it queries the house number corresponding to the balcony corresponding to the target coordinate range from the correspondence between the preset balcony coordinate range and the house number, and generates a high-altitude dangerous object alarm for the house number, so as to prompt the owner corresponding to the house number through the alarm and allow the owner to remove the high-altitude dangerous object from the balcony.

[0104] It should be noted that if the owner is not contacted within the preset time period after the alarm is issued or the owner refuses to remove the object, then in order to eliminate the hidden danger of falling objects, the processor 12 needs to continue to execute based on the image of the cleaning area, identify the object characteristics of the high-altitude dangerous objects included in the cleaning area and the position data in the building facade, and determine the target position data and cleaning control parameters required by the cleaner 14 to clean the high-altitude dangerous objects based on the object characteristics and position data, so as to clean the high-altitude dangerous objects based on the target position data and cleaning control parameters.

[0105] In some embodiments of the present application, in practical applications, in order to facilitate the inventory of high-altitude dangerous objects that have been cleared and to better display the clearing results, such as Figure 2 As shown, the collector 11 provided in this embodiment is also used to collect a second image of the cleaning area after the cleaner 14 performs a cleaning operation on the high-altitude hazardous objects; the high-altitude hazardous object cleaning system also includes: a generator 15, which is used to generate a high-altitude hazardous object cleaning report for the cleaning area based on the corresponding object features of each high-altitude hazardous object, the second image and the original image before the cleaning operation after completing the cleaning operation for all high-altitude hazardous objects in the cleaning area.

[0106] The high-altitude hazardous object clearance report includes the corresponding object features of each high-altitude hazardous object cleared, the second image and the original image before the cleaning operation. In this way, through the high-altitude hazardous object clearance report, not only can we understand which high-altitude hazardous objects have been cleared, but also through the comparison of the second image and the original image, we can understand the cleaning effect of each high-altitude hazardous object.

[0107] In some embodiments of the present application, if a high-altitude hazardous object cleaning system is put on the market, the high-altitude hazardous object cleaning system is used to clean up the high-altitude hazardous objects, and the holder of the high-altitude hazardous object cleaning system can charge a fee. Based on this, the generator 15 in the high-altitude hazardous object cleaning system provided in this embodiment can also be used to complete the cleaning operation for all high-altitude hazardous objects in the cleaning area, based on the object characteristics of each high-altitude hazardous object, to find the correspondence between the preset object characteristics and the quotation data, determine the target quotation data corresponding to each high-altitude hazardous object, and generate a quotation report for the cleaning area based on the target quotation data. In this way, after the high-altitude hazardous cleaning area is cleaned of high-altitude hazardous objects, a clear and detailed quotation report can be automatically generated to quickly recover the cleaning costs based on the quotation report. It should be noted that in order to make the charges more convincing, the quotation report and the high-altitude hazardous object cleaning report can be provided to the customer together.

[0108] In some embodiments of the present application, in order to perform image recognition more accurately and quickly, the processor 12 provided in this embodiment may be a chip of RISC-V architecture, and the chip is adapted to the instruction set for recognizing the image of the cleaning area, so that the processor 12 can use the image recognition model more accurately and quickly. The image recognition model here may include all the models mentioned in the above detailed explanation of the embodiment of the present application, and the types of these models can be flexibly selected based on business needs, which is not limited in this embodiment. Exemplarily, the model is a deep learning model such as Yolov5.

[0109] In some embodiments of the present application, a high-altitude hazardous material cleaning system provided by the present embodiment is described below with a specific example. In the present embodiment, the high-altitude hazardous material cleaning system includes a collector 11, a processor 12, a traveler 13 and a cleaner 14, and the traveler 13 includes a drone module 131, and the cleaner 14 includes a pendulum module 141. The collector 11, the processor 12 and the pendulum module 141 are all integrated in the drone module 131 and carried by the drone module 131, and the pendulum module 141 is connected to the bottom of the drone module 131 through a flexible medium. The processor 12 includes a chip of RISC-V architecture, for example, the chip is an EIC7700X development board based on the RISC-V architecture, and the EIC7700X development board based on the RISC-V instruction set has the characteristics of high efficiency, convenience and low power consumption, and is suitable for running complex image processing algorithms on the drone module 131, and will not add too much burden to the drone module 131.

[0110] It is determined that the building facade 1 of the building 1 is to be cleared of high-altitude dangerous objects, and the processor 12 selects a clearing area from the building facade 1 based on the facade features of the building facade 1. The collector 11 collects an image of the clearing area, and the processor 12 identifies the object features of the high-altitude dangerous objects included in the clearing area and the position data in the building facade based on the image of the clearing area, and determines the target position data, swing speed, and swing direction required for the pendulum module 141 to clear the high-altitude dangerous objects based on the object features and position data. The drone module 131 transports the pendulum module 141 to the target position by flying and hovers at the target position. The pendulum module 141 swings in the swing direction at the swing speed at the target position to achieve the use of a force that meets the requirements for clearing high-altitude dangerous objects to completely clear the high-altitude dangerous objects.

[0111] In some embodiments, the high-altitude hazardous object clearing system can be connected to the business terminal to continuously transmit data such as object characteristics, images, cleaning control parameters, etc. corresponding to the high-altitude hazardous objects identified during the operation, so as to asynchronously connect this information to the database, thereby facilitating the subsequent training and iterative optimization of the models used in the high-altitude hazardous object clearing process.

[0112] In some embodiments, the high-altitude hazardous object cleaning system can be connected to a printing device, and as the cleaning operation proceeds, key images and information are selected for printing for archiving. The key image here is an image including a high-altitude hazardous object, and the information may include but is not limited to the object characteristics of the high-altitude hazardous object, cleaning control parameters, etc.

[0113] In some embodiments, the high-altitude hazardous material clearing system can also be connected to the processing terminal. The high-altitude hazardous material clearing system can transmit all data of the high-altitude hazardous material clearing process in real time. The processing terminal can build a 3D model of the high-altitude hazardous material clearing area based on such data, and as the cleaning work progresses, the high-altitude hazardous material clearing process can be demonstrated through synchronized animation of the 3D model, so as to more intuitively control the entire cleaning process.

[0114] Furthermore, an embodiment of the present application also provides a method for cleaning dangerous objects at high altitudes, such as Figure 3 As shown, the high-altitude dangerous object cleaning method provided in this embodiment may include the following steps 201 to 203:

[0115] 201. Based on the facade features of the building facade, select a cleaning area from the building facade.

[0116] 202. Collect images of the cleaning area.

[0117] 203. Based on the image of the cleaning area, identify the object features of the high-altitude dangerous objects included in the cleaning area and the position data on the facade of the building.

[0118] 204. Based on the object features and the position data, determine the target position data and cleaning control parameters required by a preset cleaner to clean the high-altitude dangerous objects, wherein the target position data is used to indicate the target position where the cleaner needs to be when cleaning the high-altitude dangerous objects.

[0119] 205. Transport the cleaner to the target location indicated by the target location data.

[0120] 206. Control the cleaner to perform a cleaning operation on the high-altitude hazardous object at the target location based on the cleaning control parameters.

[0121] The method for clearing high-altitude dangerous objects provided in the embodiment of the present application, when it is necessary to clear high-altitude dangerous objects on the facade of a building, selects a cleaning area from the facade of the building based on the facade features of the building facade. Then, based on the image of the cleaning area, the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the facade of the building are identified, and based on the object features and the position data, the cleaning control parameters required for the cleaner to clean the high-altitude dangerous objects and the target position data for indicating the target position where the cleaner needs to be to clean the high-altitude dangerous objects are determined. Finally, the cleaner is transported to the target position indicated by the target position data, and the cleaner is controlled at the target position to perform a cleaning operation on the high-altitude dangerous objects based on the cleaning control parameters. It can be seen that the solution provided in the embodiment of the present application can identify the object characteristics of the high-altitude dangerous objects and their position data on the building facade based on the image of the building facade taken through image recognition technology when it is necessary to clean up the high-altitude dangerous objects. Based on the position data, a cleaner with automatic cleaning function is transported to a position suitable for cleaning the high-altitude dangerous objects, and the cleaner is controlled at the transported position based on cleaning control parameters adapted to the object characteristics of the high-altitude dangerous objects to clean up the high-altitude dangerous objects. In this way, efficient and safe cleaning of high-altitude dangerous objects can be achieved without manual inspection.

[0122] In some embodiments of the present application, before the above step 203 identifies the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the building facade based on the image of the cleaning area, the high-altitude dangerous object cleaning method provided in this embodiment may also include the step of "identifying whether there are high-altitude dangerous objects in the cleaning area based on the image of the cleaning area", which step may include at least one of the following two methods:

[0123] First, identify the image of the cleaning area and obtain the high-falling object risk level of the objects included in the cleaning area; if there are objects whose high-falling object risk level reaches the target risk level, the corresponding objects are determined as high-altitude dangerous objects included in the cleaning area.

[0124] Second, identify the image of the cleaning area and obtain object information of objects included in the cleaning area, wherein the object information is used to describe the objects; mark the object information corresponding to the objects in the image of the cleaning area, and display the image marked with the object information; if object information is selected, the object corresponding to the selected object information is determined as a high-altitude dangerous object included in the cleaning area.

[0125] In some embodiments of the present application, the method for clearing dangerous objects at high altitudes provided in this embodiment may further include the step of "selecting a clearing area", which may include the following steps 1 to 5:

[0126] Step 1, collecting an overall image of the building facade;

[0127] Step 2: identifying the overall image to obtain the facade features of the facade;

[0128] Step 3: dividing the building facade into a plurality of target areas based on the facade features;

[0129] Step 4: Set the priority ranking of each target area;

[0130] Step 5: Select each target area as a cleaning area in turn according to the priority ranking.

[0131] In some embodiments of the present application, the facade features include facade objects existing on the building facade and the coordinate range occupied by each facade object in the building facade. Then, the specific execution process of the above step three may include the following steps:

[0132] For each facade object included in the facade feature, the following is performed respectively: detecting whether the coordinate range occupied by the facade object is larger than the target coordinate range, the target coordinate range being the coordinate range for clearly capturing images by the collector; if larger, dividing the coordinate range occupied by the facade object into at least two sub-coordinate ranges, and dividing the area corresponding to each sub-coordinate range on the facade of the building into a target area, each sub-coordinate range being no larger than the target coordinate range; if smaller, dividing the area corresponding to the coordinate range occupied by the facade object on the facade of the building into a target area.

[0133] In some embodiments of the present application, the specific execution process of step four above may include the following steps: determining the object type of the facade object corresponding to each target area, wherein the object type is used to indicate the probability of the existence of high-altitude dangerous objects in the corresponding target area; and setting the priority ranking of each target area based on the probability indicated by the object type.

[0134] In some embodiments of the present application, the cleaner includes a pendulum module, and the cleaning control parameters include a swing speed and a swing direction; then, the specific process of determining the target position data and cleaning control parameters required for the preset cleaner to clean the high-altitude dangerous object based on the object characteristics and the position data in step 204 may include the following steps:

[0135] Based on the object characteristics of the high-altitude dangerous object, determine the force required for the pendulum module to clear the high-altitude dangerous object; select a swing speed suitable for the force and a first distance between the pendulum module and the high-altitude dangerous object; based on the position data of the high-altitude dangerous object, determine the swing direction required for the pendulum module to clear the high-altitude dangerous object; based on the position data of the high-altitude dangerous object, the first distance and the swing direction, determine the target position data required for the pendulum module to clear the high-altitude dangerous object.

[0136] In some embodiments of the present application, the cleaner includes a robot arm module, and the cleaning control parameters include a target force and a stretching direction; then, the specific process of determining the target position data and cleaning control parameters required for the preset cleaner to clean the high-altitude dangerous object based on the object characteristics and the position data in step 204 may include the following steps:

[0137] Based on the object characteristics of the high-altitude dangerous object, determine the target force required for the robotic arm module to clear the high-altitude dangerous object; based on the position data of the high-altitude dangerous object, determine the extension direction required for the robotic arm module to clear the high-altitude dangerous object; based on the extension length of the robotic arm of the robotic arm module and the position data of the high-altitude dangerous object, determine the second distance between the robotic arm module and the high-altitude dangerous object required for the robotic arm module to clear the high-altitude dangerous object; based on the position data of the high-altitude dangerous object, the second distance and extension direction, determine the target position data required for the robotic arm module to clear the high-altitude dangerous object.

[0138] In some embodiments of the present application, the method for clearing high-altitude hazardous objects provided in this embodiment may also include the following steps: after the cleaner performs a cleaning operation on the high-altitude hazardous object, collecting a first image of the cleaning area; judging whether the high-altitude hazardous object has been cleared based on the first image, and if not, obtaining the current object features of the high-altitude hazardous object based on the first image; and determining the target position data and cleaning control parameters required for the cleaner to clean the uncleaned high-altitude hazardous objects based on the current object features.

[0139] In some embodiments of the present application, the method for clearing high-altitude hazardous objects provided in this embodiment may also include the following steps: based on the position data of the high-altitude hazardous objects in the facade of the building, determining whether the high-altitude hazardous objects include a target high-altitude hazardous object located on the balcony; if included, determining the corresponding house number of the balcony based on the position data of the target high-altitude hazardous object, and generating a high-altitude hazardous object alarm for the house number.

[0140] In some embodiments of the present application, the method for clearing high-altitude hazardous objects provided in this embodiment may also include the following steps: after the cleaner performs a clearing operation on the high-altitude hazardous objects, a second image of the clearing area is collected; after the clearing operation is completed for all high-altitude hazardous objects in the clearing area, a high-altitude hazardous object clearing report for the clearing area is generated based on the corresponding object features of each high-altitude hazardous object, the second image and the original image before the cleaning operation.

[0141] In the high-altitude hazardous object cleaning method provided in the embodiment of the present application, the detailed explanations used in the operation of each step can be found in the corresponding detailed explanations of the above-mentioned high-altitude hazardous object cleaning system embodiment, which will not be repeated here.

[0142] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the above-mentioned high-altitude hazardous material clearing method.

[0143] Furthermore, an embodiment of the present application also provides an electronic device, which includes: a memory for storing programs; a processor, coupled to the memory, for running the program to execute the above-mentioned high-altitude hazardous material clearing method.

[0144] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0145] It is understandable that the related features in the above methods and devices can be referenced to each other. In addition, the "first", "second" and the like in the above embodiments are used to distinguish the embodiments, but do not represent the advantages and disadvantages of the embodiments.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0147] The algorithm and display provided herein are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious to construct the structure required for this type of system. In addition, the application is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to realize the content of the application described herein, and the description of the above specific language is to disclose the preferred embodiment of the application.

[0148] In addition, the memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0149] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data cutover device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data cutover device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data switching device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data transfer device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0153] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0154] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0155] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0156] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0157] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A high-altitude hazardous material cleaning system, characterized in that: The high-altitude hazardous material cleaning system includes a processor, a collector, a mover and a cleaner; wherein, The processor is used to select a cleaning area from the building facade based on the facade features of the building facade; The collector is used to collect images of the cleaning area; The processor is further used to identify object features of high-altitude dangerous objects included in the cleaning area and position data on the building facade based on the image of the cleaning area; based on the object features and the position data, determine the target position data and cleaning control parameters required for the cleaner to clean the high-altitude dangerous objects, wherein the target position data is used to indicate the target position where the cleaner needs to be when cleaning the high-altitude dangerous objects; The traveler is used to transport the cleaner to the target position indicated by the target position data; The cleaner is used to perform a cleaning operation on the high-altitude dangerous objects at the target location based on the cleaning control parameters.

2. The high-altitude dangerous goods cleaning system according to claim 1 is characterized in that: The processor is further configured to identify the image of the cleaning area and obtain the high-falling object risk level of the objects included in the cleaning area; if there is an object whose high-falling object risk level reaches the target risk level, the corresponding object is determined as a high-altitude dangerous object included in the cleaning area; and / or, The processor is further configured to recognize the image of the cleaning area, obtain object information of objects included in the cleaning area, wherein the object information is used to describe the objects; mark the object information corresponding to the objects in the image of the cleaning area, and display the image marked with the object information; If object information is selected, the object corresponding to the selected object information is determined as a high-altitude dangerous object included in the cleaning area.

3. The high-altitude dangerous goods cleaning system according to claim 1 is characterized in that: The collector is also used to collect the overall image of the building facade; The processor includes: a first determination module, used to identify the overall image and obtain the facade features of the facade; based on the facade features, divide the building facade into multiple target areas; set the priority ranking of each target area; according to the priority ranking, select each target area as a cleaning area in turn.

4. The high-altitude dangerous goods cleaning system according to claim 3 is characterized in that: The facade feature includes the facade objects existing on the facade of the building and the coordinate range occupied by each facade object in the facade of the building. Then, the first determination module is specifically used to perform, for each facade object included in the facade feature: detecting whether the coordinate range occupied by the facade object is greater than the target coordinate range, the target coordinate range being the coordinate range for the collector to clearly capture images; if greater than, dividing the coordinate range occupied by the facade object into at least two sub-coordinate ranges, and dividing the area corresponding to each sub-coordinate range on the facade of the building as the target area, and each sub-coordinate range is not greater than the target coordinate range; If not, the coordinate range occupied by the facade object is divided into a region corresponding to the building facade as a target region.

5. The high-altitude dangerous goods cleaning system according to claim 4 is characterized in that: The first determination module is specifically used to determine the object type of the facade object corresponding to each target area, and the object type is used to indicate the probability of the existence of high-altitude dangerous objects in the corresponding target area; based on the probability indicated by the object type, the priority ranking of each target area is set.

6. The high-altitude dangerous goods clearing system according to claim 1 is characterized in that: The cleaner includes a pendulum module, and the cleaning control parameters include a swing speed and a swing direction; then, the processor includes: The second determination module is used to determine the force required by the pendulum module to clear the high-altitude dangerous object based on the object characteristics of the high-altitude dangerous object; select a swing speed suitable for the force and a first distance between the pendulum module and the high-altitude dangerous object; and determine the swing direction required by the pendulum module to clear the high-altitude dangerous object based on the position data of the high-altitude dangerous object; A third determination module is used to determine the target position data required by the pendulum module to clear the high-altitude dangerous object based on the position data of the high-altitude dangerous object, the first distance and the swing direction; or, The cleaner includes a robot module, and the cleaning control parameters include a target force and a stretching direction; then, the processor includes: A fourth determination module is used to determine the target force required for the robot module to clear the high-altitude dangerous object based on the object characteristics of the high-altitude dangerous object; and to determine the extension direction required for the robot module to clear the high-altitude dangerous object based on the position data of the high-altitude dangerous object; The fifth determination module is used to determine the second distance between the robotic arm module and the high-altitude dangerous object required for the robotic arm module to clear the high-altitude dangerous object based on the extension length of the robotic arm of the robotic arm module and the position data of the high-altitude dangerous object; and determine the target position data required for the robotic arm module to clear the high-altitude dangerous object based on the position data, the second distance and the extension direction of the high-altitude dangerous object.

7. The high-altitude dangerous goods clearing system according to claim 6, characterized in that: The pendulum module is used to swing at the target position in the swing direction at the swing speed; or, The robot arm module is used to extend in the extending direction at the target position, and perform a grasping action with the target force after the extension is completed.

8. The high-altitude dangerous goods cleaning system according to any one of claims 1 to 7, characterized in that: The collector is further used to collect a first image of the cleaning area after the cleaner performs a cleaning operation on the high-altitude dangerous objects; The processor is further configured to determine whether the high-altitude dangerous object has been cleaned up based on the first image, and if not, to obtain the current object features of the high-altitude dangerous object based on the first image; and to determine the target position data and cleaning control parameters required for the cleaner to clean up the high-altitude dangerous object that has not been cleaned up based on the current object features; and / or, The processor is further configured to determine, based on the position data of the high-altitude dangerous objects in the building facade, whether the high-altitude dangerous objects include a target high-altitude dangerous object located on a balcony; if included, determine the house number corresponding to the balcony based on the position data of the target high-altitude dangerous object, and generate a high-altitude dangerous object alarm for the house number; and / or, The collector is further used to collect a second image of the cleaning area after the cleaner performs a cleaning operation on the high-altitude dangerous objects; The high-altitude dangerous object clearing system further includes: a generator for generating a high-altitude dangerous object clearing report for the clearing area based on the object features corresponding to each high-altitude dangerous object, the second image, and the original image before the clearing operation after the clearing operation is completed for all high-altitude dangerous objects in the clearing area; and / or, The mover includes at least one of the following modules: a drone module and a wall-climbing robot module.

9. A method for clearing dangerous objects at high altitudes, characterized in that: The method comprises: Selecting a cleaning area from the building facade based on the facade features of the building facade; Acquiring an image of the cleaning area; Based on the image of the cleaning area, identifying the object features of the high-altitude dangerous objects included in the cleaning area and the position data in the facade of the building; Based on the object features and the position data, determine the target position data and cleaning control parameters required for a preset cleaner to clean the high-altitude dangerous object, wherein the target position data is used to indicate the target position where the cleaner needs to be when cleaning the high-altitude dangerous object; transporting the cleaner to the target location indicated by the target location data; The cleaner is controlled to perform a cleaning operation on the high-altitude dangerous objects at the target position based on the cleaning control parameters.

10. A computer-readable storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the high-altitude hazardous material clearing method according to claim 9.

Images