Unmanned aerial vehicle hangar cleaning method and system, computer equipment and program product

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle hangar cleaning method and system, computer equipment and a program product. The method comprises the following steps: acquiring message data, wherein the message data is generated by analyzing a target image of a predetermined area acquired by an image acquisition device by a server and determining a to-be-cleaned component corresponding to a hangar; analyzing the message data, and determining a to-be-cleaned component; and the steering air nozzle is controlled to rotate by a corresponding target angle, and the to-be-cleaned part is cleaned. According to the hangar cleaning method, the steering air nozzle can be controlled to rotate to the optimal cleaning position, and then the to-be-cleaned part is cleaned instead of being cleaned at a fixed position, so that the to-be-cleaned part can be well cleaned, and the technical problem that the surface cleaning effect of the hangar of the unmanned aerial vehicle is poor is solved.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles, and particularly to a method and system for cleaning the hangar of an unmanned aerial vehicle, a computer device, and a program product. Background Art

[0002] After the hangar of an unmanned aerial vehicle is deployed outdoors, due to the changeable outdoor environment, there are some dust and debris on the surface of the hangar. At present, the surface cleaning of the hangar depends on manual labor or simple automated equipment. For example, for some hangars, they are equipped with jet nozzles with fixed directions for removing dust and debris on the surface of the hangar. Since the jet nozzles with fixed directions cannot adjust their directions, the cleaning effect is not good. In particular, local dust and debris are not easily blown off, and it is also impossible to accurately determine whether the entire surface of the hangar has been cleaned. Summary of the Invention

[0003] In view of this, this application provides a method and system for cleaning the hangar of an unmanned aerial vehicle, a computer device, and a program product to solve the technical problem of poor cleaning effect on the surface of the hangar of an unmanned aerial vehicle.

[0004] In a first aspect, this application provides a method for cleaning the hangar of an unmanned aerial vehicle, which is applied to a drone controller. A steering jet nozzle and an image acquisition device are installed on the hangar of the unmanned aerial vehicle. The method for cleaning the hangar of the unmanned aerial vehicle includes: obtaining message data, where the message data is generated by a server analyzing a target image of a predetermined area collected by the image acquisition device to determine components to be cleaned corresponding to the hangar; parsing the message data to determine the components to be cleaned; and controlling the steering jet nozzle to rotate by a corresponding target angle to clean the components to be cleaned.

[0005] For the method for cleaning the hangar of the unmanned aerial vehicle in this application, the obtained message data sent by the server is parsed, so that the components to be cleaned in the hangar can be determined; then the steering jet nozzle is controlled to rotate by a corresponding target angle to clean the components to be cleaned. Since the jet nozzle in this application is a rotatable jet nozzle, the steering jet nozzle can be controlled to rotate by a corresponding target angle. That is to say, the method for cleaning the hangar in this application can control the steering jet nozzle to rotate to the optimal cleaning position and then clean the components to be cleaned, rather than cleaning the components to be cleaned at a fixed position. In this way, the components to be cleaned can be better cleaned, thus solving the technical problem of poor cleaning effect on the surface of the hangar of an unmanned aerial vehicle.

[0006] In an alternative embodiment, parsing the message data to determine the component to be cleaned includes: parsing the message data according to a predetermined parsing method to obtain target data information; when the target data information is the first data information, determining the component to be cleaned as a meteorological sensor; when the target data information is the second data information, determining the component to be cleaned as an image acquisition device; when the target data information is the third data information, determining the component to be cleaned as the top of the hangar.

[0007] According to the target data information obtained by parsing the message data, the corresponding component to be cleaned is determined. In this way, the UAV controller can determine the component to be cleaned relatively simply and quickly. In addition, for the UAV controller, it only needs to perform message parsing, without additional complex calculations, and can determine the component to be cleaned. This not only simplifies the control logic of the UAV controller, but also enables the computing power and storage capacity of the UAV controller to be relatively small, thus reducing the cost of the UAV controller.

[0008] In an alternative embodiment, the hangar is also equipped with a stepper motor, which is electrically connected to the steering nozzle to control the steering nozzle to rotate by a corresponding target angle to clean the component to be cleaned, including: determining the target angle using the positional relationship between the steering nozzle and the component to be cleaned; generating at least one pulse signal using the target angle and the step angle of the stepper motor; sending the at least one pulse signal to the driver of the stepper motor, and driving the steering nozzle to rotate by the target angle through the driver to clean the component to be cleaned.

[0009] Through the at least one pulse signal, the steering nozzle can be accurately controlled to rotate by the target angle, and the entire cleaning process can be automatically controlled by the UAV controller, improving the cleaning efficiency and reducing the workload and error of manual operation.

[0010] In an alternative embodiment, determining the target angle using the positional relationship between the steering nozzle and the component to be cleaned includes: obtaining the initial angle position of the steering nozzle; obtaining the target angle position corresponding to the steering nozzle when cleaning the component to be cleaned; and determining the target angle using the difference between the initial angle position and the target angle position.

[0011] Determining the target angle through the difference between the initial angle position of the steering nozzle and the target angle position of the steering nozzle when cleaning the component to be cleaned can not only accurately and simply determine the rotation angle of the steering nozzle, but also shorten the time for determining the target angle. Subsequently, through the target angle, the steering nozzle can be automatically controlled to accurately rotate from the initial position to the optimal cleaning position, further ensuring a better cleaning effect on the component to be cleaned and a higher cleaning efficiency.

[0012] In an alternative embodiment, before obtaining the message data, the hangar cleaning method of the unmanned aerial vehicle further includes: controlling an image acquisition device to acquire a target image of a predetermined area; using the network interface of the hangar to send the target image to a server, so that the server can analyze the target image, determine the components to be cleaned corresponding to the hangar, and generate message data corresponding to the components to be cleaned.

[0013] By using an image acquisition device to acquire a target image of a predetermined area and sending the target image to the server, the server can accurately analyze the components to be cleaned in the hangar. Compared with traditional manual judgment or preset fixed cleaning modes, this image-based recognition method can more accurately locate the components that need to be cleaned, avoiding omission or incorrect cleaning.

[0014] In an alternative embodiment, controlling the image acquisition device to acquire a target image of a predetermined area includes: using a meteorological sensor to sense meteorological data; when the meteorological data indicates that the current weather is the target weather, controlling the image acquisition device to acquire a target image of the predetermined area.

[0015] By acquiring the target image of the predetermined area under the target weather, it is possible to determine whether to clean the hangar based on the target image, that is, whether there are components to be cleaned in the hangar, which can avoid the occurrence of over-cleaning or under-cleaning. Over-cleaning will waste resources and time, while under-cleaning requires secondary cleaning, increasing additional costs.

[0016] In a second aspect, the present application provides a hangar cleaning method for an unmanned aerial vehicle, which is applied to a server. The hangar of the unmanned aerial vehicle is equipped with a steering nozzle and an image acquisition device. The hangar cleaning method for the unmanned aerial vehicle includes: obtaining a target image of a predetermined area acquired by the image acquisition device; analyzing the target image to determine the components to be cleaned corresponding to the hangar, and generating message data corresponding to the components to be cleaned; sending the message data to the unmanned aerial vehicle controller, so that the unmanned aerial vehicle controller can analyze the message data, determine the components to be cleaned, and control the steering nozzle to rotate by a corresponding target angle to clean the components to be cleaned.

[0017] The hangar cleaning method of the drone in this application is such that the server uses the target image to determine the components to be cleaned corresponding to the hangar, generates corresponding message data, and sends the message data to the drone controller. The drone controller parses the message data obtained from the server, thereby being able to determine the components to be cleaned in the hangar; then it controls the steering nozzle to rotate by a corresponding target angle to clean the components to be cleaned. Since the nozzle in this application is a rotatable nozzle, the steering nozzle can be controlled to rotate by a corresponding target angle. That is to say, the hangar cleaning method of this application can control the steering nozzle to rotate to the optimal cleaning position and then clean the components to be cleaned, rather than cleaning the components to be cleaned at a fixed position. In this way, the components to be cleaned can be better cleaned, thus solving the technical problem of poor cleaning effect on the surface of the drone's hangar.

[0018] In a third aspect, this application provides a hangar cleaning system for a drone, including the hangar of the drone and a server. The hangar of the drone is equipped with a drone controller, a steering nozzle, and an image acquisition device. Among them, the image acquisition device acquires the target image of a predetermined area; the server obtains the target image of the predetermined area acquired by the image acquisition device, parses the target image, determines the components to be cleaned corresponding to the hangar, and generates message data corresponding to the components to be cleaned; the drone controller obtains the message data, parses the message data, determines the components to be cleaned, and controls the steering nozzle to rotate by a corresponding target angle to clean the components to be cleaned.

[0019] In a fourth aspect, this application provides a computer device, including: a memory and a processor. The memory and the processor are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the hangar cleaning method of the drone corresponding to any one of the embodiments in the above first aspect or second aspect.

[0020] In a fifth aspect, this application provides a computer-readable storage medium, on which computer instructions are stored. The computer instructions are used to cause a computer to execute the hangar cleaning method of the drone corresponding to any one of the embodiments in the above first aspect or second aspect. Description of the Drawings

[0021] In order to more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1It is a schematic structural diagram of a hangar cleaning system for a drone according to an embodiment of the present application;

[0023] Figure 2 It is a schematic diagram of the installation positions of a meteorological sensor, an image acquisition device, and a steering nozzle according to an embodiment of the present application;

[0024] Figure 3 It is a schematic flowchart of a hangar cleaning method for a drone according to an embodiment of the present application;

[0025] Figure 4 It is a schematic flowchart of another hangar cleaning method for a drone according to an embodiment of the present application;

[0026] Figure 5 It is a schematic flowchart of yet another hangar cleaning method for a drone according to an embodiment of the present application;

[0027] Figure 6 It is a schematic flowchart of still another hangar cleaning method for a drone according to an embodiment of the present application;

[0028] Figure 7 It is a structural block diagram of a hangar cleaning device for a drone according to an embodiment of the present application;

[0029] Figure 8 It is a structural block diagram of another hangar cleaning device for a drone according to an embodiment of the present application;

[0030] Figure 9 It is a schematic hardware structure diagram of a computer device according to an embodiment of the present application. Detailed implementation manners

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0032] Combined with the application scenarios on which the execution of the hangar cleaning method for a drone depends, the application scenarios will be described herein.

[0033] After the hangar of the drone is deployed outdoors, due to the changeable outdoor environment, there are some dust and sundries on the surface of the hangar. At present, the surface cleaning of the hangar depends on manual labor or simple automated equipment. For example, for some hangars, they are equipped with jet nozzles with fixed directions for removing dust and sundries on the surface of the hangar. Since the jet nozzles with fixed directions cannot adjust the direction, the cleaning effect is not good. In particular, local dust and sundries are not easily blown off, and it is also impossible to accurately judge whether the entire surface of the hangar has been cleaned.

[0034] In view of this, this application proposes a method for cleaning the hangar of a drone. The server uses the target image to determine the parts to be cleaned corresponding to the hangar, generates corresponding message data, and sends the message data to the drone controller. The drone controller parses the message data obtained from the server, so as to determine the parts to be cleaned in the hangar; then controls the steering jet nozzle to rotate by a corresponding target angle to clean the parts to be cleaned. Since the jet nozzle in this application is a rotatable jet nozzle, the steering jet nozzle can be controlled to rotate by a corresponding target angle. That is to say, the hangar cleaning method of this application can control the steering jet nozzle to rotate to the optimal cleaning position and then clean the parts to be cleaned, rather than cleaning the parts to be cleaned at a fixed position. In this way, the parts to be cleaned can be better cleaned, thus solving the technical problem of poor cleaning effect on the surface of the hangar of the drone.

[0035] For the convenience of understanding, here, taking the cleaning of the hangar of the drone as an example, a simple introduction to the application architecture of the hangar cleaning method, system, computer device and program product provided by this application is given. Figure 1 It is a schematic diagram of the application architecture of a hangar cleaning system for a drone provided by an embodiment of this application.

[0036] The hangar cleaning system of the drone includes the hangar of the drone, a server and a database. Among them, the hangar and the server can communicate through a wireless network, and the server and the database can also communicate through a wired network or a wireless network. After the server recognizes the target image, it sends the target image and the corresponding message data to the database for data storage in the database, so that the user can view the cleaning record of the hangar in time later. The hangar is equipped with a meteorological sensor, an image acquisition device, an electric air pump, a steering jet nozzle, a drone controller and a stepping motor. The drone controller communicates with the meteorological sensor, the image acquisition device, the electric air pump, the steering jet nozzle and the stepping motor. As Figure 2 shown, the meteorological sensor, the image acquisition device and the steering jet nozzle can be installed on the top of the hangar.

[0037] According to an embodiment of the present application, an embodiment of a method for cleaning a hangar of a drone is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0038] In this embodiment, a method for cleaning a hangar of a drone is provided, which can be used in the above-mentioned drone controller. Figure 3 It is a flowchart of the method for cleaning a hangar of a drone according to an embodiment of the present application, as Figure 3 shown, this process includes the following steps:

[0039] Step S301, obtain message data, which is generated by the server analyzing the target image of a predetermined area collected by the image acquisition device to determine the components to be cleaned corresponding to the hangar.

[0040] Message data is a kind of data that has been specifically encoded and formatted, and is used for information transmission and interaction between different systems or devices. It usually contains various information related to a specific business or function, and is organized and represented in a structured manner.

[0041] For the acquisition of message data, it can be sent by the server, or can be generated by the drone controller analyzing the target image of a predetermined area collected by the image acquisition device to determine the components to be cleaned corresponding to the hangar.

[0042] The image acquisition device is a tool for acquiring image information, which can be a camera, a camera, a 3D camera, etc., and is not limited in this application. In addition, the image acquisition device itself can have communication capabilities. Of course, the image acquisition device itself can also not have communication capabilities. For example, when the image acquisition device itself has communication capabilities, the target image of the predetermined area collected by the image acquisition device can be directly sent to the server; when the image acquisition device itself does not have communication capabilities, the image acquisition device can send the target image of the predetermined area collected to the drone controller, and the drone controller sends it to the server.

[0043] The predetermined area can be determined based on the field of view angle of the image acquisition device. However, it should be noted that the field of view angle of the image acquisition device needs to cover at least the top of the entire hangar, so the predetermined area is at least an area including the top of the hangar.

[0044] The server analyzes the target image of the predetermined area collected by the image acquisition device, which can be to identify the target image using an image recognition algorithm. Then, the component to be cleaned is determined according to the recognition result. For example, when the clarity of the target image cannot meet the preset conditions, the component to be cleaned is determined as the image acquisition device; when fallen leaves are identified in the target image, the component to be cleaned is determined as the top of the hangar; when snow is identified in the target image, the component to be cleaned is determined as the top of the hangar and / or the weather sensor.

[0045] Step S302: Analyze the message data to determine the component to be cleaned.

[0046] For the analysis of the message data, it can be analyzed based on the transmission protocol corresponding to the message data. For example, the hangar of the unmanned aerial vehicle also includes a host computer. The unmanned aerial vehicle controller communicates with the host computer through the RS232 protocol, and the host computer and the server can communicate through wireless communication technology. In this way, the message data can be analyzed according to the RS232 protocol, and the component to be cleaned is determined according to the analysis result.

[0047] Through the analysis of the message data, the component to be cleaned determined can be one or multiple. That is to say, a piece of message data can carry information of one or multiple components to be cleaned. Of course, the message data can also carry information such as the cleaning times and cleaning duration of the component to be cleaned, etc. That is to say, for the server, it can also determine information such as how many times the component to be cleaned needs to be cleaned and how long the cleaning time for one time is based on the target image, so as to ensure that the component to be cleaned can be cleaned well and the cleaning effect is good.

[0048] Step S303: Control the steering nozzle to rotate by a corresponding target angle to clean the component to be cleaned.

[0049] The steering nozzle is a device used to control the jet direction, and is usually applied to equipment or systems that require precise control of the jet angle to achieve specific functions.

[0050] The target angle is the angle that the steering nozzle needs to rotate when it rotates from its initial position to the position for cleaning the component to be cleaned. In actual applications, controlling the steering nozzle to rotate by a corresponding target angle can be achieved by a control method based on a stepper motor, a control method based on a servo motor, or a control method based on a hydraulic or pneumatic system. The steering nozzle is controlled to rotate by a corresponding target angle to clean the component to be cleaned. In this application, there is no limitation in comparison, and it can be flexibly set according to the actual situation.

[0051] In the actual application process, when cleaning the component to be cleaned, the component to be cleaned can be cleaned once or multiple times. For example, the server can notify the drone controller through message data to clean the component to be cleaned once, and the duration of one cleaning is a predetermined value; the server can also notify the drone controller through message data to clean the component to be cleaned multiple times, and the duration of one cleaning is a predetermined value. After cleaning the component to be cleaned, the server can also determine whether to continue cleaning the component to be cleaned based on the target image of the predetermined area collected again. For example, when the clarity of the target image meets the preset conditions or there is no rain, snow or fallen leaves on the top of the drone, the cleaning of the component to be cleaned is stopped; when the clarity of the target image does not meet the preset conditions or there is rain, snow or fallen leaves on the top of the drone, the cleaning of the component to be cleaned is continued, and the above steps are repeated in a loop.

[0052] For the hangar cleaning method of the drone in this application, the message data sent by the server is parsed, so that the component to be cleaned in the hangar can be determined; then the steering nozzle is controlled to rotate by a corresponding target angle to clean the component to be cleaned. Since the nozzle in this application is a rotatable nozzle, the steering nozzle can be controlled to rotate by a corresponding target angle. That is to say, the hangar cleaning method of this application can control the steering nozzle to rotate to the best cleaning position and then clean the component to be cleaned, rather than cleaning the component to be cleaned at a fixed position. In this way, the component to be cleaned can be better cleaned, thus solving the technical problem of poor cleaning effect on the surface of the drone hangar.

[0053] In this embodiment, a hangar cleaning method for a drone is provided, which can be used in the above-mentioned drone controller. Figure 4 It is a flowchart of the hangar cleaning method for a drone according to an embodiment of the present application, as Figure 4 shown, and this process includes the following steps:

[0054] Step S401: Obtain message data, which is generated by the server parsing the target image of the predetermined area collected by the image acquisition device to determine the component to be cleaned corresponding to the hangar. For details, please refer to Figure 3 Step S301 of the embodiment shown, which will not be elaborated here.

[0055] Step S402: Parse the message data to determine the component to be cleaned.

[0056] Specifically, the above step S402 includes:

[0057] Step S4021: Parse the message data according to a predetermined parsing method to obtain target data information.

[0058] The predetermined parsing method is a pre-set parsing method. Among them, the predetermined parsing method is related to the transmission protocol of the message data. For example, when the message data is transmitted through the RS232 protocol, the predetermined parsing method is determined according to the RS232 protocol. Then, the message data is parsed based on the RS232 protocol format to obtain the data information of the start bit, data bit, parity bit, and stop bit in the message data.

[0059] Step S4022, when the target data information is the first data information, determine that the component to be cleaned is the meteorological sensor.

[0060] Step S4023, when the target data information is the second data information, determine that the component to be cleaned is the image acquisition device.

[0061] Step S4024, when the target data information is the third data information, determine that the component to be cleaned is the top of the hangar.

[0062] The corresponding component to be cleaned is determined according to the target data information carried by the data bit in the message data. For example, when the value in the data bit is 0, it indicates that the component to be cleaned is the meteorological sensor; when the value in the data bit is 1, the component to be cleaned is the image acquisition device; when the value in the data bit is 01, the component to be cleaned is the top of the hangar. The above examples are only for clearly explaining how to determine the corresponding component to be cleaned according to the target data information carried by the data bit in the message data.

[0063] Through steps S4021 to S4024, the corresponding component to be cleaned is determined according to the target data information obtained by parsing the message data. In this way, the UAV controller can relatively simply and quickly determine the component to be cleaned. In addition, for the UAV controller, it only needs to perform message parsing, and without additional complex calculations, it can determine the component to be cleaned. This not only simplifies the control logic of the UAV controller, but also makes the computing power and storage capacity of the UAV controller relatively small, thus reducing the cost of the UAV controller.

[0064] Step S403, control the steering nozzle to rotate by the corresponding target angle to clean the component to be cleaned. For details, please refer to Figure 3 Step S303 of the illustrated embodiment, which will not be elaborated here.

[0065] The hangar cleaning method of the drone provided in this embodiment parses the obtained message data sent by the server, and can obtain the target data information; then, according to the target data information, the components to be cleaned in the hangar can be quickly and accurately determined; then, the steering nozzle is controlled to rotate by a corresponding target angle to clean the components to be cleaned. Since the nozzle in this application is a rotatable nozzle, the steering nozzle can be controlled to rotate by a corresponding target angle. That is to say, the hangar cleaning method of this application can control the steering nozzle to rotate to the optimal cleaning position and then clean the components to be cleaned, rather than cleaning the components to be cleaned at a fixed position. In this way, the components to be cleaned can be better cleaned, thus solving the technical problem of poor cleaning effect on the surface of the drone hangar.

[0066] In an alternative embodiment, a stepper motor is further installed in the hangar. The stepper motor is electrically connected to the steering nozzle. Controlling the steering nozzle to rotate by a corresponding target angle to clean the components to be cleaned includes: determining the target angle by using the positional relationship between the steering nozzle and the components to be cleaned; generating at least one pulse signal by using the target angle and the step angle of the stepper motor; sending the at least one pulse signal to the driver of the stepper motor, and driving the steering nozzle to rotate by the target angle through the driver to clean the components to be cleaned.

[0067] The step angle of the stepper motor is the angle rotated by the stepper motor for each received pulse signal. Assuming that the step angle of the stepper motor is θ (unit: degree) and the target angle is α (unit: degree), then the required number of pulses n can be calculated by the formula Calculated.

[0068] A pulse signal refers to a change in voltage or current that appears within a short period of time, usually consisting of one or more pulses, and each pulse has a certain amplitude, width, and interval.

[0069] There are various implementation methods for generating at least one pulse signal by using the target angle and the step angle of the stepper motor. For example, the pulse signal can be generated by means of a drone controller.

[0070] As Figure 1 shown, the drone controller sends at least one pulse signal to the driver of the stepper motor, and drives the steering nozzle to rotate by the target angle through the driver. After the steering nozzle rotates to the target angle position for cleaning the components to be cleaned, the unmanned controller sends a cleaning signal to the electric air pump so that the electric air pump jets air to the steering nozzle to clean the components to be cleaned.

[0071] By means of at least one pulse signal, the steering jet nozzle can be accurately controlled to rotate to the target angle. The entire cleaning process can be automatically controlled by the drone controller, which improves the cleaning efficiency and reduces the workload and error of manual operation.

[0072] In an alternative embodiment, the target angle is determined by using the positional relationship between the steering jet nozzle and the component to be cleaned, including: obtaining the initial angular position of the steering jet nozzle; obtaining the target angular position corresponding to the steering jet nozzle when cleaning the component to be cleaned; and determining the target angle by using the difference between the initial angular position and the target angular position.

[0073] The initial angular position of the steering jet nozzle is the initial position where the steering jet nozzle is located, that is, the original position when the steering jet nozzle is in a non-operating state; the target angular position corresponding to the steering jet nozzle when cleaning the component to be cleaned is the position where the steering jet nozzle is located when cleaning the component to be cleaned, and can also be understood as the optimal position for cleaning the component to be cleaned.

[0074] In the actual application process, the initial angular position and the target angular position can be pre-set in the drone controller in advance, or can be sent by the server to the drone controller through message data. If the server sends the initial angular position and the target angular position to the drone controller, the initial angular position and the target angular position obtained by the drone controller are more accurate and flexible, further ensuring better cleaning effect and higher cleaning efficiency for the component to be cleaned.

[0075] Determining the target angle by the difference between the initial angular position of the steering jet nozzle and the target angular position of the steering jet nozzle when cleaning the component to be cleaned can not only accurately and simply determine the rotation angle of the steering jet nozzle, but also shorten the time for determining the target angle. Subsequently, through the target angle, the steering jet nozzle can be automatically controlled to accurately rotate from the initial position to the appropriate cleaning position, further ensuring better cleaning effect and higher cleaning efficiency for the component to be cleaned.

[0076] In an alternative embodiment, before obtaining the message data, the method for cleaning the hangar of the drone further includes: controlling an image acquisition device to acquire a target image of a predetermined area; and sending the target image to the server by using the network interface of the hangar, so that the server analyzes the target image, determines the component to be cleaned corresponding to the hangar, and generates message data corresponding to the component to be cleaned.

[0077] Collect the target image of the predetermined area through the image acquisition device and send the target image to the server so that the server can accurately analyze the components to be cleaned in the hangar. Compared with the traditional manual judgment or preset fixed cleaning mode, the image-based recognition method can more accurately locate the components that need to be cleaned, avoiding omission or incorrect cleaning.

[0078] In an alternative embodiment, controlling the image acquisition device to collect the target image of the predetermined area includes: sensing meteorological data using a meteorological sensor; and controlling the image acquisition device to collect the target image of the predetermined area when the meteorological data indicates that the current is the target weather.

[0079] Optionally, the meteorological sensor can be a wind speed sensor, a rain and snow sensor, etc., and the target weather can also be rain and snow weather or strong wind weather. In the actual application process, if the rain and snow sensor senses that it starts to snow in the area where the hangar is located, there will generally be snow accumulation on the top of the hangar after snowing. Therefore, through the target image, it can be further identified whether it has stopped snowing in the area where the hangar is located, or whether there is snow accumulation on the top of the hangar and the rain and snow sensor, and further determine whether it is necessary to clean the top of the hangar or the rain and snow sensor. If the wind speed sensor senses that there is strong wind in the area where the hangar is located, the strong wind weather will generally cause fallen leaves on the top of the hangar. Therefore, through the target image, it can be further identified whether there are fallen leaves on the top of the hangar.

[0080] By collecting the target image of the predetermined area under the target weather, it is possible to use the target image to determine whether to clean the hangar, that is, whether there are components to be cleaned in the hangar, which can avoid the occurrence of over-cleaning or under-cleaning. Over-cleaning will waste resources and time, and under-cleaning will require secondary cleaning, increasing additional costs.

[0081] In this embodiment, a method for cleaning the hangar of an unmanned aerial vehicle is provided, which can be used in the above-mentioned server. Figure 5 It is a flowchart of the method for cleaning the hangar of an unmanned aerial vehicle according to an embodiment of the present application. As Figure 5 shown, the process includes the following steps:

[0082] Step S501, obtain the target image of the predetermined area collected by the image acquisition device.

[0083] The target image can be an image containing the top of the hangar collected by the image acquisition device, or an image containing the rain and snow sensor or the wind speed sensor collected by the image acquisition device; it can also be an image randomly collected by the image acquisition device, which is only used to determine whether the image acquisition device itself needs to be cleaned.

[0084] Regarding the image acquisition device and the predetermined area, etc., please refer to Figure 3 step S301 of the embodiment shown, which will not be elaborated here.

[0085] Step S502: Analyze the target image, determine the components to be cleaned corresponding to the hangar, and generate message data corresponding to the components to be cleaned.

[0086] Analyzing the target image may be to identify the target image through an image recognition algorithm to determine the components to be cleaned corresponding to the hangar. In this application, the image recognition algorithm is not limited. It can be trained based on deep learning, neural networks, or machine learning frameworks, or calculated using a mathematical model.

[0087] For example, using Fourier transform, the target image is transformed from the spatial domain to the frequency domain to obtain the spectrogram of the target image; determine the energy value of the target spectrum in the spectrogram; when the energy value of the target spectrum is lower than a predetermined value, it is determined that the clarity of the target image does not meet the preset conditions, so it is determined that the image acquisition device needs to be cleaned.

[0088] For another example, if the rain and snow sensor senses that it starts to snow in the area where the hangar is located, at this time, the image acquisition device acquires the target image of a predetermined area and sends the target image to the server. The server uses an image de - snowing model to perform de - snowing processing on the target image to obtain a de - snowed image; if the target image is the same as the de - snowed image, it indicates that the area where the hangar is located has stopped snowing, so the rain and snow sensor and / or the top of the hangar can be cleaned. If the rain and snow sensor and / or the top of the hangar are cleaned during the snowing process, this may lead to repeated cleaning of the rain and snow sensor and / or the top of the hangar, further improving the cleaning efficiency.

[0089] For yet another example, perform image enhancement processing on the target image to obtain the target image after image enhancement processing; use an image recognition model to recognize the target image after image enhancement processing to determine whether there are fallen leaves on the top of the hangar of the unmanned aerial vehicle; when there are fallen leaves on the top of the hangar, it is determined that the top of the hangar needs to be cleaned.

[0090] Step S503: Send the message data to the UAV controller so that the UAV controller can analyze the message data, determine the components to be cleaned, control the steering nozzle to rotate by a corresponding target angle, and clean the components to be cleaned. For details, please refer to Figure 3 Step S303 of the illustrated embodiment, which will not be elaborated here.

[0091] The hangar cleaning method of the drone in this application is such that the server uses the target image to determine the components to be cleaned corresponding to the hangar, generates corresponding message data, and sends the message data to the drone controller. The drone controller parses the message data obtained from the server. In this way, the components to be cleaned in the hangar can be determined; then it controls the steering nozzle to rotate by a corresponding target angle to clean the components to be cleaned. Since the nozzle in this application is a rotatable nozzle, the steering nozzle can be controlled to rotate by a corresponding target angle. That is to say, the hangar cleaning method of this application can control the steering nozzle to rotate to the optimal cleaning position and then clean the components to be cleaned, rather than cleaning the components to be cleaned at a fixed position. In this way, the components to be cleaned can be better cleaned, thus solving the technical problem of poor cleaning effect on the surface of the drone's hangar.

[0092] In this embodiment, a hangar cleaning system for a drone is provided. The hangar cleaning system for the drone includes the hangar of the drone and a server. The hangar of the drone is equipped with a drone controller, a steering nozzle, and an image acquisition device. Among them, the image acquisition device acquires the target image of a predetermined area; the server obtains the target image of the predetermined area acquired by the image acquisition device, analyzes the target image, determines the components to be cleaned corresponding to the hangar, and generates message data corresponding to the components to be cleaned; the drone controller acquires the message data, analyzes the message data, determines the components to be cleaned, and controls the steering nozzle to rotate by a corresponding target angle to clean the components to be cleaned.

[0093] The hangar cleaning system of the drone in this application includes the hangar of the drone and a server. Among them, the hangar is equipped with a drone controller, a steering nozzle, and an image acquisition device. The server uses the target image to determine the components to be cleaned corresponding to the hangar, generates corresponding message data, and sends the message data to the drone controller. The drone controller parses the message data obtained from the server. In this way, the components to be cleaned in the hangar can be determined; then it controls the steering nozzle to rotate by a corresponding target angle to clean the components to be cleaned. Since the nozzle in this application is a rotatable nozzle, the steering nozzle can be controlled to rotate by a corresponding target angle. That is to say, the hangar cleaning method of this application can control the steering nozzle to rotate to the optimal cleaning position and then clean the components to be cleaned, rather than cleaning the components to be cleaned at a fixed position. In this way, the components to be cleaned can be better cleaned, thus solving the technical problem of poor cleaning effect on the surface of the drone's hangar.

[0094] To facilitate the understanding of the technical solution of this application, as Figure 6 shown, this embodiment also provides a hangar cleaning method for a drone, including steps S601 to S604.

[0095] Step S601: The image acquisition device acquires a target image of a predetermined area.

[0096] Step S602: The server determines the clarity of the target image. When the clarity does not meet the preset conditions, it sends message data to the drone controller to clean the image acquisition device until the clarity of the acquired target image meets the preset conditions. That is, relying on the steering jet nozzles on the hangar, when the surface of the image acquisition device gets dirty, the image acquisition device can be cleaned.

[0097] Step S603: If the rain and snow sensor senses that it starts to snow in the area where the hangar is located, and it is recognized through the target image that it stops snowing in the area where the hangar is located, send message data to the drone controller to clean the top of the hangar. That is, relying on the rain and snow sensor and the image acquisition device of the hangar, it senses the start of snowing through the rain and snow sensor and recognizes the stop of snowing through the image acquisition device, realizing full-sensing monitoring of the snowing scenario. After the snow stops, clean the top of the hangar and / or the rain and snow sensor. Cleaning the rain and snow sensor can improve the recognition accuracy of the rain and snow sensor.

[0098] Step S604: If it is recognized through the target image that there are fallen leaves on the top of the hangar, determine to clean the top of the hangar, and send message data to the drone controller to clean the top of the hangar. That is, relying on the image acquisition device of the hangar, it realizes full-sensing monitoring of the fallen leaves. When fallen leaves are detected on the top of the hangar, clean the top of the hangar.

[0099] In this embodiment, a hangar cleaning device for a drone is also provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0100] This embodiment provides a hangar cleaning device for a drone, as Figure 7 shown, including:

[0101] A message acquisition module 710, configured to acquire message data, where the message data is generated by the server analyzing the target image of a predetermined area acquired by the image acquisition device to determine the components to be cleaned corresponding to the hangar.

[0102] A message parsing module 720, configured to parse the message data to determine the components to be cleaned.

[0103] An angle control module 730, configured to control the steering jet nozzle to rotate by a corresponding target angle to clean the components to be cleaned.

[0104] In some alternative embodiments, the message parsing module 720 includes:

[0105] A message parsing unit, configured to parse the message data according to a predetermined parsing method to obtain target data information.

[0106] A first determination unit, configured to determine that the component to be cleaned is a weather sensor when the target data information is the first data information.

[0107] A second determination unit, configured to determine that the component to be cleaned is an image acquisition device when the target data information is the second data information.

[0108] A third determination unit, configured to determine that the component to be cleaned is the top of the hangar when the target data information is the third data information.

[0109] In some alternative embodiments, the hangar is further equipped with a stepper motor, and the stepper motor is electrically connected to the steering nozzle. The angle control module 730 includes:

[0110] An angle determination unit, configured to determine a target angle by using the positional relationship between the steering nozzle and the component to be cleaned.

[0111] A generation unit, configured to generate at least one pulse signal by using the target angle and the step angle of the stepper motor.

[0112] A rotation unit, configured to send at least one pulse signal to the driver of the stepper motor, and drive the steering nozzle to rotate the target angle through the driver to clean the component to be cleaned.

[0113] In some alternative embodiments, the angle determination unit includes:

[0114] A first acquisition subunit, configured to acquire the initial angle position of the steering nozzle.

[0115] A second acquisition subunit, configured to acquire the target angle position corresponding to the steering nozzle when cleaning the component to be cleaned.

[0116] An angle determination subunit, configured to determine the target angle by using the difference between the initial angle position and the target angle position.

[0117] In some alternative embodiments, the hangar cleaning device of the unmanned aerial vehicle further includes:

[0118] An image acquisition module, configured to control the image acquisition device to acquire a target image of a predetermined area before acquiring the message data.

[0119] A message generation module, which is configured to use the network interface of the hangar to send a target image to a server, so that the server can parse the target image, determine the parts to be cleaned corresponding to the hangar, and generate message data corresponding to the parts to be cleaned.

[0120] In some alternative embodiments, the image acquisition module includes:

[0121] A sensing unit, which is configured to sense meteorological data by using a meteorological sensor.

[0122] An image acquisition unit, which is configured to control an image acquisition device to acquire a target image of a predetermined area when the meteorological data indicates that the current weather is the target weather.

[0123] This embodiment provides a hangar cleaning device for a drone, as Figure 8 shown, including:

[0124] An image acquisition module 810, which is configured to acquire a target image of a predetermined area acquired by an image acquisition device.

[0125] An image parsing module 820, which is configured to parse the target image, determine the parts to be cleaned corresponding to the hangar, and generate message data corresponding to the parts to be cleaned.

[0126] A message sending module 830, which is configured to send the message data to a drone controller, so that the drone controller can parse the message data, determine the parts to be cleaned, control the steering nozzle to rotate by a corresponding target angle, and clean the parts to be cleaned.

[0127] The further function descriptions of the above-mentioned modules and units are the same as those in the corresponding embodiments above, and will not be elaborated here.

[0128] The hangar cleaning device for the drone in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0129] This application embodiment also provides a computer device, which can be a drone controller or a server. When the computer device is a drone controller, the drone controller has the above Figure 7 shown hangar cleaning device for the drone; when the computer device is a server, the server has the above Figure 8 hangar cleaning device for the drone.

[0130] Please refer to Figure 9 , Figure 9It is a schematic structural diagram of a computer device provided by an optional embodiment of the present application. As Figure 9 shown, the computer device includes: one or more processors 910, a memory 920, and an interface for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 9 Here, one processor 910 is taken as an example.

[0131] The processor 910 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 910 can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0132] Among them, the memory 920 stores instructions executable by at least one processor 910, so that the at least one processor 910 executes the method shown in the above embodiments.

[0133] The memory 920 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device. In addition, the memory 920 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some optional embodiments, the memory 920 can optionally include a memory remotely set relative to the processor 910, and these remote memories can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0134] The memory 920 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 920 can also include a combination of the above types of memories.

[0135] The computer device further includes a communication interface 930 for the computer device to communicate with other devices or communication networks.

[0136] Embodiments of the present application also provide a computer-readable storage medium. The methods according to the embodiments of the present application can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the methods described herein can be processed by such software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0137] A part of the present application can be applied as a computer program product, such as computer program instructions. When executed by a computer, through the operation of the computer, the methods and / or technical solutions according to the present application can be called or provided. Those skilled in the art should be able to understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible by the computer.

[0138] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for cleaning a hangar of an unmanned aerial vehicle, characterized in that: Applied to a drone controller, the hangar of the drone is equipped with a steering jet nozzle and an image acquisition device, the method comprises: Acquire message data, where the message data is generated by the server parsing the target image of the predetermined area acquired by the image acquisition device to determine the components to be cleaned corresponding to the hangar; Parsing the message data to determine the components to be cleaned; The steering air nozzle is controlled to rotate to a corresponding target angle to clean the component to be cleaned.

2. The method according to claim 1, characterized in that Parsing the message data to determine the components to be cleaned up includes: Parsing the message data according to a predetermined parsing method to obtain target data information; In a case where the target data information is the first data information, determining that the component to be cleaned is a meteorological sensor; In a case where the target data information is the second data information, determining that the component to be cleaned is the image acquisition device; When the target data information is the third data information, it is determined that the component to be cleaned is the hangar top.

3. The method according to claim 1, characterized in that The hangar is also equipped with a stepper motor, which is electrically connected to the steering air nozzle to control the steering air nozzle to rotate to a corresponding target angle to clean the parts to be cleaned, including: Determining the target angle by using the positional relationship between the steering air nozzle and the component to be cleaned; At least one pulse signal is generated using the target angle and the step angle of the stepper motor: At least one of the pulse signals is sent to a driver of the stepper motor, and the driver drives the steering air nozzle to rotate to the target angle to clean the part to be cleaned.

4. The method according to claim 3, characterized in that Determining the target angle by using the positional relationship between the steering air nozzle and the part to be cleaned includes: Obtaining an initial angular position of the steering air nozzle; Acquiring a target angle position corresponding to the steering air nozzle when cleaning the component to be cleaned; The target angle is determined using a difference between the initial angle position and the target angle position.

5. The method according to any one of claims 1 to 4, characterized in that: Before acquiring the message data, the method further includes: Controlling the image acquisition device to acquire the target image of the predetermined area; The target image is sent to a server by using the network interface of the hangar, so that the server analyzes the target image, determines the to-be-cleaned components corresponding to the hangar, and generates the message data corresponding to the to-be-cleaned components.

6. The method according to claim 5, characterized in that Controlling the image acquisition device to acquire the target image of the predetermined area includes: Use meteorological sensors to perceive meteorological data; When the meteorological data indicates that the current weather is target weather, the image acquisition device is controlled to acquire the target image of the predetermined area.

7. A method for cleaning a hangar of an unmanned aerial vehicle, characterized in that: Applied to a server, the hangar of the drone is equipped with a steering jet nozzle and an image acquisition device, and the method includes: Acquire a target image of a predetermined area acquired by the image acquisition device; Analyze the target image, determine the components to be cleaned corresponding to the hangar, and generate message data corresponding to the components to be cleaned; The message data is sent to the drone controller, so that the drone controller parses the message data, determines the parts to be cleaned, controls the steering air nozzle to rotate to a corresponding target angle, and cleans the parts to be cleaned.

8. A hangar cleaning system for a drone, characterized in that: The system includes a hangar of a drone and a server, wherein the hangar of the drone is equipped with a drone controller, a steering jet nozzle and an image acquisition device, wherein: The image acquisition device acquires a target image of a predetermined area; The server acquires the target image of the predetermined area acquired by the image acquisition device, analyzes the target image, determines the to-be-cleaned component corresponding to the hangar, and generates message data corresponding to the to-be-cleaned component; The UAV controller obtains the message data, parses the message data, determines the parts to be cleaned, controls the steering air nozzle to rotate to a corresponding target angle, and cleans the parts to be cleaned.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the hangar cleaning method for a UAV according to any one of claims 1 to 6 or the hangar cleaning method for a UAV according to claim 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the hangar cleaning method for a drone according to any one of claims 1 to 6 or the hangar cleaning method for a drone according to claim 7.

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