Cleaning aircraft, control method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a cleaning aircraft, a control method, electronic equipment and a storage medium. The cleaning aircraft comprises an aircraft body, a rotor wing device, a front end adsorption device, a cleaning adsorption device and a control processor. The rotor device is arranged at the upper end of the fuselage, the front-end adsorption device is arranged on one side of the fuselage, and the cleaning adsorption device is arranged at the bottom end of the fuselage; when the control processor responds to a cleaning request of a cleaning target, the control processor is used for controlling the rotor wing device to rotate at a rotating speed so as to fly to an adjacent area of the cleaning target, and after the front-end adsorption device is adsorbed on the cleaning target, the rotating speed of the rotor wing device is controlled to be decreased until stopping; the cleaning aircraft rotates by taking the front-end adsorption device as a fixed point until the cleaning adsorption device is tightly attached to and adsorbed to the cleaning target, the front-end adsorption device is controlled to be loosened, then the cleaning adsorption device is controlled to perform movable cleaning on the cleaning target, and the cleaning efficiency and safety of the high-altitude cleaning target are improved.

Description

Technical Field

[0001] This application relates to the technical field of aircraft, and particularly to a cleaning aircraft, a control method, an electronic device, and a storage medium. Background Art

[0002] In the cleaning of the glass facades of existing high-rise buildings, especially in areas that are difficult for humans to reach, there are problems such as difficult cleaning, low efficiency, and high safety risks. Traditional cleaning methods rely on manual high-altitude operations, which are dangerous and costly. In related technologies, for the cleaning of high-altitude glass, window cleaning robots have begun to be used for cleaning, but these window cleaning robots can usually only work in areas that can be placed by humans, and cannot cross obstacles or reach far areas, resulting in low cleaning efficiency and safety. Summary of the Invention

[0003] Embodiments of this application provide a cleaning aircraft, a control method, an electronic device, and a storage medium, which can improve the cleaning efficiency and safety of high-altitude glass.

[0004] To achieve the above object, a first aspect of the embodiments of this application proposes a cleaning aircraft, including:

[0005] A fuselage, a rotor device, a front adsorption device, a cleaning adsorption device, and a control processor;

[0006] The rotor device is arranged at the upper end of the fuselage, the front adsorption device is arranged on one side of the fuselage, and the cleaning adsorption device is arranged at the bottom of the fuselage;

[0007] When the control processor responds to a cleaning request for a cleaning target, the control processor is configured to control the rotor device to rotate at a rotational speed, and drive the cleaning aircraft to fly to a neighboring area of the cleaning target during the rotation;

[0008] When the cleaning aircraft is located in the neighboring area, the front adsorption device adsorbs on the cleaning target, and the control processor is further configured to control the rotational speed of the rotor device to decrease until it stops. During this process, the cleaning aircraft rotates with the front adsorption device as a fixed point until the cleaning adsorption device closely adheres to and adsorbs on the cleaning target;

[0009] When the cleaning adsorption device adsorbs on the cleaning target, the control processor is further configured to control the front adsorption device to release, and control the cleaning adsorption device to perform mobile cleaning on the cleaning target.

[0010] In some embodiments, an adsorption vacuum pump is provided inside the cleaning adsorption device. When the vertical distance between the bottom of the cleaning aircraft and the cleaning target is less than a preset cleaning distance, the cleaning adsorption device adsorbs on the cleaning target by using the vacuum negative pressure provided by the adsorption vacuum pump.

[0011] In some embodiments, the cleaning adsorption device includes a cleaning module and a motion mechanism connected to each other;

[0012] When the cleaning adsorption device adsorbs on the cleaning target, the control processor is used to control the cleaning module to perform cleaning work and control the motion mechanism to control the cleaning aircraft to move on the cleaning target.

[0013] To achieve the above object, a second aspect of the embodiments of the present application proposes a control method for a cleaning aircraft. The cleaning aircraft is as shown in the cleaning aircraft of the first aspect. The method is applied to the control processor. The method includes:

[0014] When responding to a cleaning request of a cleaning target, control the rotor device to rotate at a rotation speed, and drive the cleaning aircraft to fly to a neighboring area of the cleaning target during the rotation;

[0015] When the cleaning aircraft is located in the neighboring area, control the front-end adsorption device to adsorb on the cleaning target, and control the rotation speed of the rotor device to decrease until it stops. During this process, the cleaning aircraft rotates with the front-end adsorption device as a fixed point until the cleaning adsorption device is close to and adsorbs on the cleaning target;

[0016] When the cleaning adsorption device adsorbs on the cleaning target, control the front-end adsorption device to release, and control the cleaning adsorption device to perform mobile cleaning on the cleaning target.

[0017] In some embodiments, the step of when the cleaning aircraft is located in the neighboring area, controlling the front-end adsorption device to adsorb on the cleaning target includes:

[0018] Determine the starting fitting position of the cleaning target, and control the cleaning aircraft to run to a neighboring area of the starting fitting position;

[0019] When the straight-line distance between the cleaning aircraft and the starting fitting position is less than the first preset adsorption distance, control the front-end adsorption device to adsorb on the cleaning target.

[0020] In some embodiments, the step of determining the starting fitting position of the cleaning target includes:

[0021] Obtain a preset cleaning position range corresponding to the cleaning target, and generate a reference coordinate axis based on the preset cleaning position range;

[0022] Obtain reference profile information, the reference profile information includes a plurality of end points, and the position range corresponding to the reference profile information is smaller than the preset cleaning position range;

[0023] Determine the end point coordinates of each end point based on the reference coordinate axis;

[0024] Obtain a starting fitting point based on the intermediate coordinates of all the end point coordinates;

[0025] Obtain the reference size parameters of the aircraft, and expand the starting fitting point based on the reference size parameters of the aircraft to obtain the starting fitting position.

[0026] In some embodiments, the controlling the rotational speed of the rotor device to decrease until it stops includes:

[0027] Obtain a preset angular velocity during the downward rotation of the cleaning aircraft with the front adsorption device as the axis;

[0028] Based on the preset angular velocity and the mass of the cleaning aircraft, calculate the change amount of the motor rotational speed corresponding to the change process of the cleaning aircraft state;

[0029] Control the rotational speed of the rotor device until it stops based on the change amount of the motor rotational speed.

[0030] In some embodiments, when the cleaning aircraft completes the cleaning work of the cleaning target, the method further includes:

[0031] Control the cleaning adsorption device to drive the cleaning drone to run to the starting fitting position;

[0032] Control the front adsorption device to adsorb at the starting fitting position, and control the cleaning adsorption device to release;

[0033] After the cleaning adsorption device is released, control the rotor device to start so that the cleaning aircraft resumes a horizontal flight state;

[0034] Control the front adsorption device to release, and control the rotor device to drive the cleaning aircraft back to the parking position.

[0035] To achieve the above object, a third aspect of the embodiments of the present application proposes an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements the control method of the cleaning aircraft as described in the second aspect.

[0036] To achieve the above object, a fourth aspect of the embodiments of the present application proposes a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method of the cleaning aircraft described in the first aspect above or the control method of the cleaning aircraft described in the second aspect above.

[0037] The cleaning aircraft, control method, electronic device, and storage medium proposed in the embodiments of the present application. The cleaning aircraft includes: a fuselage, a rotor device, a front adsorption device, a cleaning adsorption device, and a control processor; the rotor device is arranged at the upper end of the fuselage, the front adsorption device is arranged on one side of the fuselage, and the cleaning adsorption device is arranged at the bottom of the fuselage; when the control processor responds to a cleaning request of a cleaning target, the control processor is used to control the rotor device to rotate at a rotational speed, and drive the cleaning aircraft to fly to a neighboring area of the cleaning target during the rotation process; when the cleaning aircraft is located in the neighboring area, the front adsorption device adsorbs on the cleaning target, and the control processor is further used to control the rotational speed of the rotor device to decrease until it stops. During this process, the cleaning aircraft rotates with the front adsorption device as a fixed point until the cleaning adsorption device presses against and adsorbs on the cleaning target; when the cleaning adsorption device adsorbs on the cleaning target, the control processor is further used to control the front adsorption device to release, and control the cleaning adsorption device to move and clean on the cleaning target. The embodiments of the present application effectively solve the problem of cleaning the glass outer wall of high-rise buildings by combining the rotor device, the front adsorption device, and the cleaning adsorption device; among them, the rotor device endows the aircraft with the ability to move in the air, enabling it to easily reach areas that are difficult to reach by traditional cleaning methods, including crossing obstacles and long-distance operations, thereby expanding the cleaning range; the coordinated work of the front adsorption device and the cleaning adsorption device constructs a dual protection mechanism to ensure that the aircraft can stably and reliably adsorb on the glass outer wall during the cleaning process, and during the switching process, by gradually stopping the rotation of the rotor device and using the front adsorption device as a fixed point, the aircraft rotates from the horizontal flight mode to the vertical direction, enabling the aircraft to smoothly switch from the flight state to the cleaning state and ensuring that the cleaning adsorption device accurately fits the surface of the cleaning target; during the process of the cleaning adsorption device moving and cleaning, the release of the front adsorption device avoids interference with the cleaning process and improves the cleaning efficiency. This solution realizes the automation and intelligence of high-altitude glass cleaning, not only improves the cleaning efficiency and safety, reduces the labor cost and safety risk, but also overcomes the defect that the application range of existing window cleaning robots is limited, providing a more comprehensive and efficient solution for cleaning the glass outer wall of high-rise buildings.

[0038] Other features and advantages of the present application will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present application. The objectives and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings. Description of the Drawings

[0039] Figure 1 is a schematic structural diagram of a cleaning system provided by an embodiment of the present application.

[0040] Figure 2 is a bottom view of a cleaning aircraft body in an unoperated state provided by another embodiment of the present application.

[0041] Figure 3 is a top view of a vehicle body in an unoperated state provided by another embodiment of the present application.

[0042] Figure 4 is a top view of a vehicle body of a quadcopter in a deployed state provided by another embodiment of the present application.

[0043] Figure 5 is a left view of a vehicle body of a quadcopter in a deployed state provided by another embodiment of the present application.

[0044] Figure 6 is a right view of a vehicle body of a quadcopter in a deployed state provided by another embodiment of the present application.

[0045] Figure 7 is a bottom view of a vehicle body with a front suction cup in a fitted state provided by another embodiment of the present application.

[0046] Figure 8 is a schematic diagram of the attitude change of a cleaning aircraft provided by another embodiment of the present application.

[0047] Figure 9 is a flowchart of a control method for a cleaning aircraft provided by another embodiment of the present application.

[0048] Figure 10 is Figure 9 a flowchart of step 901 in

[0049] Figure 11 is Figure 10 a flowchart of step 1001 in

[0050] Figure 12 is a schematic diagram of reference contour information provided by another embodiment of the present application.

[0051] Figure 13 is a schematic diagram of an intermediate starting fitting position provided by another embodiment of the present application.

[0052] Figure 14 Yes Figure 10 It is the flowchart of step 1002 in

[0053] Figure 15 It is the control flowchart after the cleaning work of a cleaning aircraft provided by another embodiment of the present application is completed.

[0054] Figure 16 It is a schematic flowchart of the control method of a cleaning aircraft provided by another embodiment of the present application.

[0055] Figure 17 It is a schematic diagram of the hardware structure of an electronic device provided by another embodiment of the present application. Detailed implementation manners

[0056] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0057] It should be noted that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order from the module division in the device or the flowchart.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0059] Glass walls and glass windows have gradually become standard features of urban buildings due to their high light transmittance, aesthetics, etc., and the proportion of the overall building exterior wall area they occupy is increasing. However, over time, glass walls will accumulate dust, rain stains, bird droppings, insect corpses, etc., reducing the light transmittance of the glass and spoiling the viewing aesthetic. In the past, it was relatively easy to clean the interior glass walls, but for the exterior glass walls, there were few effective methods.

[0060] The cleaning of the glass exterior walls of existing high-rise buildings, especially in areas that are difficult for humans to reach, has problems such as difficult cleaning, low efficiency, and high safety risks. Traditional cleaning methods rely on manual high-altitude operations, which are dangerous and costly. In related technologies, window cleaning robots have begun to be used for cleaning high-altitude glass, but these window cleaning robots can usually only work in areas where they can be placed manually and cannot cross obstacles or reach far areas, resulting in low cleaning efficiency and safety.

[0061] To improve the cleaning efficiency and safety of high-altitude glass, the embodiments of the present application effectively solve the problem of cleaning the glass outer walls of high-rise buildings by combining a rotor device, a front-end adsorption device, and a cleaning adsorption device. Among them, the rotor device endows the aircraft with the ability to move in the air, enabling it to easily reach areas that are difficult to access by traditional cleaning methods, including crossing obstacles and operating at long distances, thereby expanding the cleaning range. The coordinated operation of the front-end adsorption device and the cleaning adsorption device constructs a dual guarantee mechanism to ensure that the aircraft can stably and reliably adsorb on the glass outer wall during the cleaning process. And during the switching process, by gradually stopping the rotation of the rotor device and using the front-end adsorption device as a fixed point, the aircraft rotates from the horizontal flight mode to the vertical direction, enabling the aircraft to smoothly switch from the flight state to the cleaning state and ensuring that the cleaning adsorption device accurately fits the surface of the cleaning target. During the process of the cleaning adsorption device moving for cleaning, the release of the front-end adsorption device avoids interference with the cleaning process and improves the cleaning efficiency. This solution realizes the automation and intelligence of high-altitude glass cleaning, not only improving the cleaning efficiency and safety, reducing the labor cost and safety risks, but also overcoming the defect that the application range of existing window cleaning robots is limited, providing a more comprehensive and efficient solution for cleaning the glass outer walls of high-rise buildings.

[0062] Next, the cleaning aircraft, control method, electronic device, and storage medium provided by the embodiments of the present application will be further described. First, the cleaning aircraft provided by the embodiments of the present application will be described. Refer to Figure 1 , which is a schematic structural diagram of a cleaning system provided by the embodiments of the present application. As shown in Figure 1 , the cleaning system is composed of a cleaning aircraft 1, a power cable 2, and a base station 3 that are connected in sequence. Among them, the cleaning aircraft 1 is used to fly to the cleaning target corresponding to the high-altitude glass for high-altitude cleaning treatment, the base station 3 is used to provide power supply, control command calculation, image processing, etc. for the cleaning aircraft 1, and the power cable 2 is used to transmit power, signal communication, and traction operation, etc. for the cleaning aircraft 1.

[0063] Figure 2 This is a bottom view of the cleaning aircraft body in a non-operating state provided by the embodiments of the present application. Refer to Figure 1 and Figure 2 As shown, the cleaning aircraft 1 is composed of a fuselage 110, a rotor device 101, an image sensor 102, a front-end adsorption device 103, a front-end distance sensor 104, a bottom distance sensor 105, a cleaning adsorption device 106, and a built-in control processor.

[0064] Among them, the rotor device 101 can be a four-rotor module (or a six-rotor module), etc., which is arranged at the upper end of the fuselage 110, and the spatial behavior attitude of the cleaning aircraft 1 is realized by driving the rotation speed of the propellers through 4 motors respectively.

[0065] The cleaning adsorption device 106 is arranged at the lower end of the cleaning aircraft 1. Inside it, there are an adsorption vacuum pump, a cleaning module, and a motion mechanism. It adheres to the smooth surface of the cleaning target through the vacuum negative pressure generated by the built-in vacuum pump. The motion mechanism inside drives the cleaning cloth in the cleaning module to clean the adhered surface for cleaning work. At the same time, the motion mechanism with a traveling part is used to drive the entire cleaning aircraft 1 to move on the adhered surface of the cleaning target, so as to achieve moving cleaning on the cleaning target.

[0066] The sensor module, including a position detection part, distance sensors (including a front-end distance sensor 104 and a bottom distance sensor 105), an image sensor 102, etc., and position sensors arranged around the aircraft for detecting the edge of the operation area, distance sensors arranged at the bottom of the aircraft for detecting the adhesion state of the operation surface, and a vision sensor for confirming the operation area and completing operation evaluation.

[0067] The processing controller is used to control and process each module of the cleaning aircraft 1 (including the rotor device 101, the front-end adsorption device 103, the cleaning adsorption device 106, etc.) through the real-time information data collected by the sensor module, so as to realize the control of the flight attitude, cleaning work, etc. of the cleaning aircraft 1.

[0068] In some embodiments, in order to carry the cleaning adsorption device 106 on the body of the micro or light cleaning aircraft 1 and maintain the flight ability of the aircraft, parts of the aircraft body or circuit boards such as the cleaning adsorption device 106 are placed on the base station side, and the base station realizes operations such as electrical energy supply, control command calculation, and image processing.

[0069] Refer to Figure 3 , which is a top view of the aircraft body in a non-working state provided by an embodiment of the present application. As shown in Figure 3 , the structure of the cleaning aircraft 1 body in a non-working state is shown from the top. Figure 3 Four unfurled quad-rotor modules 101 can be seen in it, indicating that the aircraft is in a non-flight state. The cleaning aircraft 1 is also provided with a carrying strap 107, which is located at the top of the fuselage 110, facilitating manual handling and deployment of the aircraft. This figure mainly shows the structural features of the top of the aircraft, complementing Figure 2 to fully present the appearance of the aircraft in a non-working state.

[0070] Refer to Figure 4 , which is a top view of the aircraft body in a quad-rotor deployed state provided by an embodiment of the present application. As shown in Figure 4As shown in the figure, it presents a top view of the cleaning aircraft 1 body in a flight state. The four quadrotor modules 101 are fully deployed to provide lift and control force for the cleaning aircraft 1. Compared with Figure 3 this, this figure clearly shows the structural changes of the cleaning aircraft 1 from the non-operating state to the flight state. The deployment of the quadrotors is a prerequisite for the cleaning aircraft 1 to perform flight tasks, enabling it to reach the designated cleaning area.

[0071] Referring to Figure 5 , it is a left view of the aircraft body of a quadrotor in a deployed state provided by an embodiment of the present application. As shown in Figure 5 this, it shows the structure of the aircraft body in a flight state. In the figure, the deployed quadrotor module 101, the front adsorption device 103 (i.e., the front suction cup) on the side of the fuselage 110 is in a non-adsorbed state, and the cleaning adsorption device 106 at the bottom can be seen. This figure presents the overall structure of the cleaning aircraft 1 from a side view, which helps to understand the relative positional relationship between the components.

[0072] Referring to Figure 6 , it is a right view of the aircraft body of a quadrotor in a deployed state provided by an embodiment of the present application. As shown in Figure 6 this, it shows the structure of the cleaning aircraft 1 body in a flight state in a right view. Compared with Figure 5 this, this figure presents the overall structure of the cleaning aircraft 1 from another side view, further supplementing the understanding of the appearance and component layout of the cleaning aircraft 1.

[0073] When the cleaning system responds to a cleaning request for cleaning targets such as high-altitude glass, after the base station in the cleaning system or the control processor of the cleaning aircraft 1 confirms that the structure is intact, the power supply is connected, and the cables are fixed, after the system is powered on, self-checks of the functions of each device will be performed.

[0074] After the self-check is completed (such as after 1 second), the base station in the cleaning system or the control processor of the cleaning aircraft 1 starts the rotor device of the cleaning aircraft 1 to enter a preheating state, and after confirmation, controls the rotor device to rotate at a preset rotation speed, and drives the cleaning aircraft 1 to fly to the adjacent area of the cleaning target during the rotation. This adjacent area is determined by the distance between the front end of the cleaning aircraft 1 and the cleaning target collected by the front distance sensor set in the cleaning aircraft 1, and it can be within a preset distance (such as 1 cm, which can be specifically defined by the adsorbable distance of the front adsorption device 103) of the straight-line distance between the front end of the cleaning aircraft 1 and the cleaning target as the adjacent area.

[0075] When the cleaning aircraft 1 is in the adjacent area, the base station in the cleaning system or the control processor of the cleaning aircraft 1 controls the built-in vacuum pump in the front-end adsorption device 103 to start, so as to control the front-end adsorption device 103 to adsorb on the cleaning target. Refer to Figure 7 , which is a bottom view of the aircraft body in a state where the front suction cup is attached according to an embodiment of the present application. As Figure 7 shown, it shows a bottom view of the cleaning aircraft 1 body when preparing to attach to the glass wall. The front-end adsorption device 103 rotates through a hinge, contacts the glass wall corresponding to the cleaning target and generates an adsorption force, providing an initial fixation for the cleaning aircraft 1 to transition from the flight state to the cleaning state. This figure emphasizes the key role of the front suction cup in the attachment process and is an important step in realizing the attitude conversion of the cleaning aircraft 1.

[0076] After the distance between the front end of the cleaning aircraft 1 collected by the front end distance sensor remains unchanged within a certain time (such as 3 seconds), the control processor is further used to control the rotation speed of the rotor device to decrease until it stops. Refer to Figure 8 , which is a schematic diagram of the attitude change of a cleaning aircraft provided by an embodiment of the application. As Figure 8 shown, during the process of the rotation speed of the rotor device decreasing, the upward running force provided by the rotor device decreases, causing the cleaning aircraft 1 to rotate with the front-end adsorption device 103 as a fixed point, so that the attitude of the cleaning aircraft 1 changes from horizontal to vertical drop until the distance collected by the bottom distance sensor 105 represents that the linear vertical distance between the bottom of the cleaning aircraft 1 and the cleaning target is within a preset cleaning distance (such as 0.5 cm, which can be specifically defined by the adsorbable distance of the cleaning adsorption device 106). At this time, the adsorption vacuum pump in the cleaning adsorption device 106 is controlled to start, so as to generate a vacuum negative pressure to make the bottom of the cleaning aircraft 1 tightly attach to and adsorb on the cleaning target through the cleaning adsorption device 106. When the cleaning adsorption device 106 adsorbs on the cleaning target, the control processor is used to control the cleaning module to perform cleaning work and control the movement mechanism to control the cleaning aircraft 1 to move on the cleaning target, so as to realize the mobile cleaning work of the cleaning target.

[0077] When there is a user performing auxiliary work, the operation process is as follows: When the user confirms that the structure of the cleaning aircraft 1 is intact, the power supply is connected, and the cables are fixed, the system will perform a self-check after power-on. After the self-check is completed (1 second later), the rotor module is started to enter the preheating state; after the user confirms, the cleaning aircraft 1 is manually started, launched by throwing, or launched in a hanging state, and then the remote control is used to operate it to fly to the operation area. During the flight, the user can visually observe or refer to the video of the front camera and take photos of the operation area. After the user selects the window-drop position or manually demarcates an area, the window-drop position is planned. The cleaning aircraft 1 adjusts its spatial position to align with the window-drop position, and then adaptively adjusts its flight speed to approach the operation wall surface according to the data of the front distance sensor. When the data of the front distance sensor shows that it is almost in contact (distance less than 1 cm), the built-in vacuum pump is started, and the front suction cup is opened. When the distance sensor data remains unchanged (within 3 seconds), the rotor module stops working, and the attitude of the cleaning aircraft 1 changes from horizontal to vertical and drops, and it adheres to the operation wall surface due to the negative pressure at the bottom.

[0078] After the bottom distance sensor of the cleaning aircraft 1 senses the contact state (1 second), the wiping module is started. The environmental state is sensed through the built-in gyroscope and distance sensor, and it is default to the horizontal direction (the vertical direction can be selected, and the operation area is divided into left and right parts). The operation area is horizontally divided into upper and lower parts with the window-drop point of the aircraft as the boundary, and it moves row by row from top to bottom to complete the operation on the lower part of the glass wall surface; after the detection is completed, it returns to the starting point and starts the operation on the upper part of the glass wall surface, moving row by row from bottom to top. When the sensor of the cleaning aircraft 1 itself detects that the operation is completed, it returns to the window-drop starting position.

[0079] After completing the cleaning work of the cleaning target, the front adsorption device 103 of the cleaning aircraft 1 is opened, generating negative pressure to adsorb to the glass wall surface corresponding to the cleaning target again; the built-in vacuum pump of the bottom cleaning adsorption device 106 is closed to separate the abdomen of the cleaning aircraft 1 from the glass wall surface corresponding to the cleaning target. The rotor module is started to change the attitude of the cleaning aircraft 1 from vertical to horizontal. After maintaining the horizontal state of the cleaning aircraft 1 for a period of time (3 seconds), the built-in vacuum pump of the front adsorption device 103 is stopped, and it slowly moves away from the operation wall surface. The front camera of the cleaning aircraft 1 takes pictures of the operated area and compares and evaluates them with the initial photos of the operation area. Manually remotely control the flight to the next operation area or perform a recovery operation.

[0080] In the embodiments of the present application, by combining a rotor device, a front adsorption device, and a cleaning adsorption device, the problem of cleaning the glass exterior walls of high-rise buildings is effectively solved. Among them, the rotor device endows the aircraft with the ability to move in the air, enabling it to easily reach areas that are difficult to access by traditional cleaning methods, including crossing obstacles and operating over long distances, thereby expanding the cleaning range. The coordinated operation of the front adsorption device and the cleaning adsorption device constructs a dual guarantee mechanism to ensure that the aircraft can be stably and reliably adsorbed on the glass exterior wall during the cleaning process. And during the switching process, by gradually stopping the rotation of the rotor device and using the front adsorption device as a fixed point, the aircraft rotates from the horizontal flight mode to the vertical direction, enabling the aircraft to smoothly switch from the flight state to the cleaning state and ensuring that the cleaning adsorption device precisely fits the surface of the cleaning target. During the process of the cleaning adsorption device moving for cleaning, the release of the front adsorption device avoids interfering with the cleaning process and improves the cleaning efficiency. This solution realizes the automation and intelligence of high-altitude glass cleaning, not only improving the cleaning efficiency and safety, reducing the labor cost and safety risks, but also overcoming the defect that the application range of existing window cleaning robots is limited, providing a more comprehensive and efficient solution for cleaning the glass exterior walls of high-rise buildings.

[0081] Based on the cleaning aircraft and cleaning system described above, the control method of the cleaning aircraft provided by the embodiments of the present application will be further described below. Referring to Figure 9 , which is an optional flowchart of the control method of the cleaning aircraft provided by the embodiments of the present application, Figure 9 The method in Figure 9 may include but is not limited to steps 901 to 903. At the same time, it can be understood that the order of steps 901 to 903 in this embodiment is not specifically limited, and the order of steps can be adjusted according to actual needs, or some steps can be reduced or added. The control method of the cleaning aircraft provided by the embodiments of the present application can be applied to the control processor of the cleaning aircraft or to the base station of the cleaning system.

[0082] Step 901: When responding to a cleaning request for a cleaning target, control the rotor device to rotate at a rotational speed, and drive the cleaning aircraft to fly to the adjacent area of the cleaning target during the rotation.

[0083] The following is a detailed description of step 901.

[0084] In some embodiments, when a user sends a cleaning instruction to a cleaning aircraft or a cleaning system via a mobile phone APP or a remote controller, the instruction includes information about a cleaning target (e.g., the 5th piece of glass on the 20th floor of a certain building). After receiving the cleaning request, the control processor of the cleaning aircraft first retrieves the pre-stored three-dimensional model of the building exterior wall or constructs a real-time map to determine the precise position of the cleaning target in space. Subsequently, based on the current position of the aircraft and the position of the cleaning target, the control processor plans a safe and efficient flight path. Next, the control processor of the cleaning aircraft sends control signals to the motors of the rotor module, starts the rotors, and precisely controls the speed of each motor, enabling the cleaning aircraft to take off smoothly along the predetermined path and gradually accelerate towards the vicinity of the cleaning target. Meanwhile, real-time positioning and navigation are carried out using GPS, visual sensors, etc. to ensure that the aircraft accurately reaches the vicinity of the target position.

[0085] Referring to Figure 10 , when the cleaning aircraft is in the vicinity, controlling the front adsorption device to adsorb on the cleaning target includes the following steps 1001 to 1002.

[0086] Step 1001: Determine the starting fitting position of the cleaning target and control the cleaning aircraft to fly to the vicinity of the starting fitting position.

[0087] Step 1002: When the straight-line distance between the cleaning aircraft and the starting fitting position is less than the first preset adsorption distance, control the front adsorption device to adsorb on the cleaning target.

[0088] The following is a detailed description of steps 1001 to 1002.

[0089] In some embodiments, after the cleaning aircraft arrives near the cleaning target, the control processor first obtains the image information of the cleaning target through the front camera. Then, the control processor runs an image processing algorithm (e.g., Hough transform or edge detection algorithm) to identify the edge lines of the glass exterior wall, or determines a rectangular or other-shaped cleaning range according to the cleaning area manually delimited by the user on the mobile phone APP. Then, a starting fitting position for the cleaning aircraft to start the initial cleaning work is determined within this cleaning range, and this position corresponds to the adsorption position of the front adsorption device of the cleaning aircraft on the cleaning target.

[0090] Next, the control processor calculates the geometric center point of the rectangular area, and combines the dimensions of the aircraft itself (such as the fuselage length, width, etc.) to expand this center point outward by a certain distance to obtain a more accurate starting fitting position, so as to ensure that the cleaning module can completely cover the target area when the cleaning aircraft fits. Finally, according to the calculated starting fitting position, the control processor finely adjusts the motor speeds of the quadrotor module again, controls the aircraft to slowly and smoothly move to the adjacent area of the starting fitting position, and calculates the straight-line distance between the two in real time. When the measured distance is less than the first preset adsorption distance (for example, 1 cm), the control processor immediately issues an instruction to activate the front-end adsorption device (for example, a vacuum chuck or an electromagnetic chuck). The front-end adsorption device quickly extends and fits onto the cleaning target surface, generating an adsorption force to firmly fix the cleaning aircraft on the cleaning target, completing the conversion from the flight state to the fitting state and preparing for the next cleaning operation.

[0091] Next, how to determine the starting fitting position will be further described.

[0092] Referring to Figure 11 , to determine the starting fitting position of the cleaning target, the following steps 1101 to 1105 are included.

[0093] Step 1101: Obtain the preset cleaning position range corresponding to the cleaning target, and generate a reference coordinate axis based on the preset cleaning position range.

[0094] Step 1102: Obtain the reference contour information.

[0095] Step 1103: Determine the endpoint coordinates of each endpoint based on the reference coordinate axis.

[0096] Step 1104: Obtain the starting fitting point based on the intermediate coordinates of all endpoint coordinates.

[0097] Step 1105: Obtain the reference dimension parameters of the aircraft, and expand the starting fitting point based on the reference dimension parameters of the aircraft to obtain the starting fitting position.

[0098] Next, steps 1101 to 1105 will be described in detail.

[0099] Generally speaking, users can automatically divide the area or manually delimit the area according to the front camera of the cleaning aircraft, and estimate the center point of the current operation area. The glass exterior wall is generally rectangular. The automatic segmentation algorithm can use the Hough transform to obtain the straight lines in the glass exterior wall, and each straight line intersects to divide into each rectangular area. For manually delimited areas, the best rectangle is fitted according to the pixel contour drawn by the finger. Since the tethered cleaning aircraft maintains a horizontal state, the pixel coordinates of its front image are approximately parallel to the edge of the glass exterior wall. Therefore, by moving the low coordinates and high coordinates of the image pixel coordinates respectively towards the center and intersecting with the delimited contour and then stopping moving, a rectangle can be formed.

[0100] In some embodiments, after receiving the cleaning instruction, the cleaning aircraft retrieves the preset cleaning position range corresponding to the cleaning target (for example, a certain piece of glass of a certain building) from its internal memory or the data received externally (such as the data input by the user). This preset range may be a rectangular area or other shapes, and it represents the maximum range within which the cleaning aircraft can perform cleaning operations safely and effectively. After obtaining this range, the control processor of the cleaning aircraft or the base station in the cleaning system will establish a two-dimensional reference coordinate system based on the boundaries of this range. For example, the lower left corner of the range can be set as the coordinate origin, the positive direction of the X-axis is horizontally to the right, and the positive direction of the Y-axis is vertically upward. This coordinate system will be used for the precise description and calculation of positions in the subsequent steps.

[0101] Next, the cleaning aircraft obtains the reference contour information. This reference contour information can come from various sources. One possibility is that the user manually delimits a cleaning area on the image of the cleaning target through the mobile phone APP or other control interfaces. This delimited area is a polygon, and the vertices of the polygon are the endpoints of the reference contour information. Refer to Figure 12 , which is a schematic diagram of a kind of reference contour information provided by the embodiment of the present application. As shown in Figure 12 , the pixel contour drawn by the user is approximately rectangular or convex polygon. Let the pixel coordinate set of the pixel contour be (Un, Vn). By sorting the coordinate values of Un and Vn, the maximum value and the minimum value can be obtained respectively, that is: Ux_max, Ux_min, Vy_max, Vy_min. According to the idea of determining the rectangle by the intersection of the edges of the delimited contour mentioned above, its four corner points can be determined, which are (Ux_max, Vx_max), (Ux_min, Ux_max), (Ux_max, Ux_max), (Ux_max, Ux_max).

[0102] Another possibility is that the aircraft uses its own image sensor (such as a camera) to capture an image of the cleaning target, and then automatically identifies the edges of the glass through image processing algorithms (such as edge detection, contour extraction, etc.) to form a closed contour. The vertices of this contour also constitute the endpoints of the reference contour information. In either case, the cleaning area represented by the reference contour information should be less than or equal to the preset cleaning position range to ensure the safety and effectiveness of the cleaning operation.

[0103] After obtaining the endpoints of the reference contour information, the system will use the reference coordinate system established in step 1101 to determine the coordinate values of each endpoint. For example, if an endpoint is located at the position of 10 units on the X-axis and 5 units on the Y-axis of the reference coordinate system, then the coordinates of this endpoint are (10, 5), as shown by A(Ux_min, Vy_min), B(Ux_max, Uy_min), C(Ux_min, Uy_max), D(Ux_max, Uy_max) in Figure 12 the figure.

[0104] Refer to Figure 13 , which is a schematic diagram of an intermediate starting fitting position provided by an embodiment of the present application. As shown in Figure 13 the figure, after obtaining the coordinates of all endpoints, the system will calculate the intermediate coordinates of these coordinates as the preliminary position of the starting fitting point. There are various methods for calculating the intermediate coordinates. For example, the average value of the X coordinates of all endpoints can be calculated as the X coordinate of the starting fitting point, and the average value of the Y coordinates of all endpoints can be calculated as the Y coordinate of the starting fitting point. Other statistical methods, such as the median, can also be used to determine the intermediate coordinates. That is, as shown in Figure 13 the figure: Umid = (Ux_max + Ux_min) / 2, Vmid = (Vx_max + Vx_min) / 2.

[0105] Finally, the system will obtain the size parameters of the aircraft itself, such as the fuselage length, width, size of the cleaning module, etc. Then, based on these size parameters, the obtained starting fitting point will be expanded. That is, as shown in Figure 13 the figure, after a given a*b central area is provided, the center point of the front camera image of the aircraft can be kept within the central area. Adjust the spatial position of the aircraft body up, down, left, and right so that the current center of the front camera image is within the central area. It should be noted that establishing an a*b area, rather than a point, aims to reduce the robot's repeated attitude adjustment. Also, for example, the starting fitting point can be expanded by half of the aircraft width in all directions to obtain a rectangular area, and the center of this rectangular area is the final starting fitting position. The purpose of doing this is to ensure that when the aircraft fits, the cleaning module can completely cover the target cleaning area, avoiding omission or repeated cleaning.

[0106] Through the above steps 1001 to 1002, and steps 1101 to 1105, precise and safe initial adsorption between the cleaning aircraft and the cleaning target can be achieved, thus bringing significant beneficial effects. By accurately calculating the optimal starting fitting position of the cleaning target, it is ensured that the aircraft can fit to the center of the target area, avoiding deviation or collision, and controlling the aircraft to accurately move to the adjacent area of the starting fitting position to prepare for subsequent adsorption. Then, the distance sensor is used to judge the distance between the aircraft and the starting fitting position, and the front-end adsorption device is only activated when the distance is less than the preset value, avoiding the risks of instability or collision caused by premature or late adsorption. This precise positioning and adsorption control not only improves the success rate and stability of adsorption, but also reduces the damage to the surface of the cleaning target, thereby improving the cleaning efficiency and safety.

[0107] Step 902: When the cleaning aircraft is in the adjacent area, control the front-end adsorption device to adsorb on the cleaning target, and control the rotation speed of the rotor device to decrease until it stops. During this process, the cleaning aircraft rotates with the front-end adsorption device as the fixed point until the cleaning adsorption device closely adheres to and adsorbs on the cleaning target.

[0108] The following is a detailed description of step 902.

[0109] In some embodiments, when the cleaning aircraft flies to the adjacent area of the cleaning target and confirms through the distance sensor that the preset adsorption distance (such as 1 cm) has been reached, the control processor immediately sends an instruction to the front-end adsorption device to quickly extend and closely adhere to the glass surface, generating a strong adsorption force. At the same time, the control processor begins to gradually reduce the rotation speed of the rotor device. Since the front-end suction cup has firmly adsorbed on the glass, the aircraft will not fall, but will start to slowly rotate downward with the front-end adsorption device as the axis. During this rotation process, the control processor will real-time monitor the attitude angle and angular velocity of the aircraft, and precisely control the rotation speed of each rotor motor according to the preset rotation curve (for example, uniformly decelerated rotation or accelerated first and then decelerated rotation) to ensure the aircraft rotates smoothly and controllably. When the cleaning adsorption device (such as another set of vacuum suction cups with a cleaning cloth adsorption structure) at the bottom of the cleaning aircraft is completely adhered to the glass surface, the distance sensor at the bottom will detect this state and feedback the signal to the control processor. After receiving the signal, the control processor immediately stops the rotation of the rotor device and activates the cleaning adsorption device to firmly adsorb it on the glass, completing the entire conversion from the flight state to the cleaning state.

[0110] Refer to Figure 14 , controlling the rotation speed of the rotor device to decrease until it stops includes the following steps 1401 to 1403.

[0111] Step 1401: Obtain the preset angular velocity during the downward rotation of the cleaning aircraft with the front end adsorption device as the axis.

[0112] Step 1402: Based on the preset angular velocity and the mass of the cleaning aircraft, calculate the change in motor speed corresponding to the change in the state of the cleaning aircraft.

[0113] Step 1403: Control the rotational speed of the rotor device based on the change in motor speed until it stops.

[0114] The following is a detailed description of Steps 1401 to 1403.

[0115] In some embodiments, before the cleaning aircraft starts to rotate and fit, the control processor of the cleaning aircraft or the control system corresponding to the base station will preset an angular velocity curve during the rotation process. This preset angular velocity can be a constant value or a function that changes with time. For example, an angular velocity curve that is slow first, then fast, and then slow can be set to achieve a smooth start and stop and avoid impacting the aircraft and the glass. This preset angular velocity curve is determined through simulation or experiments based on factors such as the dynamic model of the aircraft, the adsorption force of the suction cup, and the weight of the cleaning module, aiming to ensure the smoothness, safety, and reliability of the rotation process.

[0116] After obtaining the preset angular velocity curve, the control system will combine parameters such as the mass of the cleaning aircraft (including the total mass of the fuselage, front end adsorption device, battery, cleaning and adsorption device, etc.) and the acceleration due to gravity to calculate the torque required by the aircraft during rotation. According to the law of fixed-axis rotation of a rigid body (torque = moment of inertia × angular acceleration), the angular acceleration required by the cleaning aircraft at each moment can be further calculated. Since the angular velocity and angular acceleration of the cleaning aircraft are provided by the rotor device, the required angular acceleration can be converted into the change in speed required for each rotor motor according to the rotor dynamics model. This calculation process may involve complex mathematical models and control algorithms, such as PID control and fuzzy control.

[0117] After obtaining the change in speed required for each rotor motor, the control system will send corresponding control signals to the motor driver to precisely adjust the speed of each motor. By independently controlling the speed of each motor, precise control of the attitude of the cleaning aircraft can be achieved, enabling it to rotate smoothly according to the preset angular velocity curve until the cleaning and adsorption device is fully attached to the cleaning target surface and the rotor device completely stops. During this process, the control system will continuously monitor parameters such as the attitude, angular velocity, and motor speed of the aircraft and make dynamic adjustments according to the actual situation to ensure the stability and reliability of the rotation process.

[0118] Through the above steps 1401 to 1403, the cleaning aircraft can be accurately controlled to rotate in a smooth and controllable manner until the cleaning adsorption device fits the cleaning target, thereby bringing significant beneficial effects. The introduction of the preset angular velocity avoids the impact caused by sudden stop or acceleration, and ensures the smoothness of the rotation process. The motor speed change is calculated based on the preset angular velocity and the mass of the aircraft, and the speed of each rotor motor can be accurately controlled to ensure that the cleaning aircraft rotates according to the predetermined trajectory. By accurately controlling the rotation speed of the rotor device until it stops, the cleaning adsorption device can be smoothly fitted to the cleaning target, avoiding collision or sliding, and improving the success rate and stability of adsorption, thereby improving cleaning efficiency and safety.

[0119] Step 903: When the cleaning adsorption device is adsorbed on the cleaning target, the front-end adsorption device is controlled to be released, and the cleaning adsorption device is controlled to move and clean on the cleaning target.

[0120] Step 903 is described in detail below.

[0121] In some embodiments, when the cleaning adsorption device is firmly adsorbed on the cleaning target (for example, a glass curtain wall to be cleaned at high altitude), the control processor of the cleaning aircraft or the control system corresponding to the base station will control the front adsorption device to release. At this time, the cleaning aircraft will be completely supported by the cleaning adsorption device, similar to "hanging upside down" on the surface of the cleaning target. Subsequently, according to the pre-set cleaning path or the cleaning path generated in real time, the cleaning adsorption device is controlled to move and clean on the cleaning target. The cleaning module in the cleaning adsorption device, such as a rotating brush, a cleaning cloth, etc., is used to wipe or clean the surface of the cleaning target. During the mobile cleaning process, the system will continuously monitor the adsorption state of the cleaning adsorption device, and adjust the adsorption force as needed to ensure the safety and stability of the cleaning process and prevent the cleaning aircraft from falling off the cleaning target. After the cleaning is completed, the cleaning adsorption device stops the cleaning action and controls the front adsorption device to re-adsorb on the cleaning target to prepare for the next action.

[0122] Reference Figure 15 When the cleaning aircraft completes the cleaning work of the cleaning target, the control method of the cleaning aircraft further includes the following steps 1501 to 1504.

[0123] Step 1501: Control the cleaning adsorption device to drive the cleaning drone to the starting bonding position.

[0124] Step 1502: Control the front-end adsorption device to adsorb at the initial bonding position, and control the cleaning adsorption device to release.

[0125] Step 1503: When the cleaning adsorption device is released, the rotor device is controlled to start so that the cleaning aircraft returns to a horizontal flight state.

[0126] Step 1504: Control the front adsorption device to release, and control the rotor device to drive the cleaning aircraft back to the parking position.

[0127] The following is a detailed description of Steps 1501 to 1504.

[0128] In some embodiments, after the cleaning task is completed, the control processor of the cleaning aircraft or the corresponding control system of the base station will, according to the previously recorded starting attachment position (i.e., the position where the cleaning aircraft was initially attached to the cleaning target), instruct the cleaning adsorption device to start moving using the motion mechanism.

[0129] When the cleaning aircraft returns to the starting attachment position, the control system will first activate the front adsorption device to firmly adsorb it on the glass surface. Then, the control system will issue an instruction to release the cleaning adsorption device and stop the adsorption of the bottom of the cleaning aircraft to the cleaning target. At this time, the weight of the cleaning aircraft will be completely borne by the front adsorption device. This step is a key transition step for the aircraft to switch from the cleaning state back to the flight state, and it is necessary to ensure a smooth and reliable switch between the two adsorption devices to avoid the aircraft falling.

[0130] After the cleaning adsorption device is completely released, the control system will immediately activate the rotor device. The rotor starts to rotate and gradually accelerates, generating an upward lift force. As the lift force increases, the aircraft will start to rotate upward around the adsorption point and gradually return to the horizontal flight attitude. During this process, the control system will continuously monitor the attitude angle and angular velocity of the aircraft and precisely control the rotation speed of each rotor motor to ensure that the aircraft smoothly and controllably returns to the horizontal flight state.

[0131] When the cleaning aircraft completely returns to the horizontal flight attitude, the control system will control the front adsorption device to release, separating it from the cleaning target. At this time, the cleaning aircraft will completely rely on the lift force provided by the rotor device to hover in the air. Finally, the control system will, according to the preset return path or the user's instruction, control the rotor device to make the cleaning aircraft fly smoothly back to the parking position, completing the entire cleaning task.

[0132] Through the above Steps 1501 to 1504, returning to the starting attachment position provides a unified and controllable starting point for the aircraft to detach from the cleaning target, simplifies the control process, the coordinated work of the front adsorption device and the cleaning adsorption device, and the timely activation of the rotor device ensure that the cleaning aircraft remains stable throughout the detachment process, avoiding the risks of falling or collision, the restoration of the horizontal flight state enables the aircraft to return in the best attitude, improves the flight efficiency and safety, and the function of automatically returning to the parking position realizes the full automation of the cleaning task, reduces manual intervention, and lowers the operation difficulty and operation cost.

[0133] Reference Figure 16 , which is a schematic block diagram of a control method for a cleaning aircraft provided by an embodiment of the present application. As shown in Figure 16 , the method includes the following steps.

[0134] (1) Prepare before operation, confirm that the cleaning aircraft is well-connected and the modules are assembled properly, the indoor power supply or mobile power supply has been connected, and the cable has been fixed.

[0135] (2) Turn on the system power of the cleaning aircraft, switch to the flight mode on the remote controller. After the system self-check, the propellers start pre-starting, and then the cleaning aircraft is unlocked and flown to the operation area.

[0136] (3) Observe the operation area through the visual sensor in front of the cleaning aircraft. After the operation area is selected and confirmed by the remote controller, adjust the attitude of the cleaning aircraft to land in a centered and fitting manner.

[0137] (4) According to the data of the distance sensor (such as single-point TOF) in front of the cleaning aircraft, adaptively reduce the speed of the cleaning aircraft approaching the operation surface. When it is almost in contact (the distance data is less than 1 cm) with the operation surface, start the built-in vacuum pump, and the front suction cup sucks the operation surface.

[0138] (5) The rotor module stops working, and the cleaning aircraft rotates naturally around the front suction cup, so that the bottom tightly adheres to the operation area, triggering the bottom sensor, and the front suction cup closes and separates.

[0139] (6) The cleaning aircraft starts the autonomous window cleaning operation and completes the operation of the entire glass wall along horizontal or vertical trajectories.

[0140] (7) After the cleaning aircraft completes the operation, it will confirm to the user through the sound or light of the remote controller, and at the same time, the cleaning aircraft returns to the initial position.

[0141] (8) After the user confirms that the cleaning aircraft has completed the operation in the area, the front suction cup will open again to suck the wall, the rotor module works again to keep the cleaning aircraft horizontal, and then the front suction cup releases again.

[0142] A control method for a cleaning aircraft provided by an embodiment of the present application includes: when responding to a cleaning request of a cleaning target, controlling a rotor device to rotate at a rotational speed. During the rotation process, obtaining a preset cleaning position range corresponding to the cleaning target, generating a reference coordinate axis based on the preset cleaning position range, obtaining reference contour information, the reference contour information includes a plurality of end points, the position range corresponding to the reference contour information is smaller than the preset cleaning position range, determining the end point coordinates of each end point based on the reference coordinate axis, obtaining a starting fitting point based on the intermediate coordinates of all the end point coordinates, obtaining the reference size parameters of the aircraft, expanding the starting fitting point based on the reference size parameters of the aircraft to obtain a starting fitting position, and controlling the cleaning aircraft to run to the adjacent area of the starting fitting position. When the linear distance between the cleaning aircraft and the starting fitting position is less than a first preset adsorption distance, controlling the front adsorption device to adsorb on the cleaning target; when the cleaning aircraft is located in the adjacent area, controlling the front adsorption device to adsorb on the cleaning target, and obtaining a preset angular velocity during the downward rotation process of the cleaning aircraft with the front adsorption device as the axis. Based on the preset angular velocity and the mass of the aircraft of the cleaning aircraft, calculating the change amount of the motor rotational speed corresponding to the change process of the state of the cleaning aircraft, and controlling the rotational speed of the rotor device until it stops based on the change amount of the motor rotational speed. During this process, the cleaning aircraft rotates with the front adsorption device as a fixed point until the cleaning adsorption device tightly adheres to and adsorbs on the cleaning target; when the cleaning adsorption device adsorbs on the cleaning target, controlling the front adsorption device to release, and controlling the cleaning adsorption device to move and clean on the cleaning target; when the cleaning aircraft completes the cleaning work of the cleaning target, controlling the cleaning adsorption device to drive the cleaning drone to run to the starting fitting position, controlling the front adsorption device to adsorb on the starting fitting position, and controlling the cleaning adsorption device to release. After the cleaning adsorption device releases, controlling the rotor device to start so that the cleaning aircraft resumes the horizontal flight state, controlling the front adsorption device to release, and controlling the rotor device to drive the cleaning aircraft back to the parking position.

[0143] The embodiment of the present application realizes the full-process automatic control from flight approach, precise fitting, stable cleaning to safe detachment, bringing significant beneficial effects. By accurately calculating the starting fitting position and controlling the aircraft to approach precisely, it ensures that the cleaning module can completely cover the target area, avoiding cleaning omissions or repetitions. The coordinated work of the front adsorption device and the cleaning adsorption device, as well as the precise control of the rotor device, ensure the stability of the aircraft during the fitting and detachment processes, avoiding the risks of falling or collision. During the cleaning process, the autonomous movement and cleaning of the cleaning adsorption device achieve an efficient and thorough cleaning effect. The entire control process requires no manual intervention, reducing the safety risks of high-altitude operations, improving the cleaning efficiency, reducing the labor cost, enabling the cleaning aircraft to be widely used in the cleaning of glass outer walls of various high-rise buildings, and providing a safe, efficient, and intelligent solution for the high-altitude cleaning field.

[0144] An embodiment of the present application further provides an electronic device, including:

[0145] At least one memory;

[0146] At least one processor;

[0147] At least one program;

[0148] The program is stored in the memory, and the processor executes the at least one program to implement the control method of the cleaning aircraft described above in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA for short), a vehicle-mounted computer, etc.

[0149] Please refer to Figure 17 , Figure 17 which schematically shows the hardware structure of an electronic device in another embodiment. The electronic device includes:

[0150] A processor 1701, which can be implemented in ways such as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present application;

[0151] A memory 1702, which can be implemented in forms such as a ROM (Read Only Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory). The memory 1702 can store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of the present specification through software or firmware, the relevant program codes are stored in the memory 1702 and are called by the processor 1701 to execute the control method of the cleaning aircraft in the embodiments of the present application;

[0152] An input / output interface 1703, which is used to implement information input and output;

[0153] A communication interface 1704, which is used to implement communication interaction between this device and other devices, and can implement communication through a wired method (such as USB, network cable, etc.) or through a wireless method (such as a mobile network, WIFI, Bluetooth, etc.);

[0154] The bus 1705 transmits information between various components of the device (such as the processor 1701, the memory 1702, the input / output interface 1703, and the communication interface 1704);

[0155] Among them, the processor 1701, the memory 1702, the input / output interface 1703, and the communication interface 1704 achieve communication connections with each other inside the device through the bus 1705.

[0156] The embodiment of the present application also provides a storage medium, which is a computer-readable storage medium. This storage medium stores a computer program, and when the computer program is executed by a processor, it implements the above-mentioned control method for the cleaning aircraft.

[0157] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include but are not limited to the Internet, enterprise intranets, local area networks, mobile communication networks, and their combinations.

[0158] The embodiments described in the embodiments of the present application are for more clearly explaining the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0159] Those skilled in the art can understand that the technical solutions shown in the figure do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figure, or combine certain steps, or different steps.

[0160] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0161] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and their appropriate combinations.

[0162] In the description of this application and the above-mentioned accompanying drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of this application described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0163] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expressions refer to any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0164] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above-mentioned division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The displayed or discussed coupling, direct coupling, or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0165] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0167] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. The foregoing storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0168] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall fall within the scope of rights of the embodiments of the present application.

Claims

1. A cleaning aircraft, characterized in that, Comprising: a fuselage, a rotor device, a front adsorption device, a cleaning adsorption device, and a control processor; the rotor device is arranged at the upper end of the fuselage, the front adsorption device is arranged on one side of the fuselage, and the cleaning adsorption device is arranged at the bottom of the fuselage; when the control processor responds to a cleaning request of a cleaning target, the control processor is used to control the rotor device to rotate at a rotational speed, and drive the cleaning aircraft to fly to a neighboring area of the cleaning target during the rotation; when the cleaning aircraft is located in the neighboring area, the front adsorption device adsorbs on the cleaning target, and the control processor is further used to control the rotational speed of the rotor device to decrease until it stops. During this process, the cleaning aircraft rotates with the front adsorption device as a fixed point until the cleaning adsorption device closely adheres to and adsorbs on the cleaning target; when the cleaning adsorption device adsorbs on the cleaning target, the control processor is further used to control the front adsorption device to release, and control the cleaning adsorption device to perform mobile cleaning on the cleaning target.

2. The cleaning aircraft according to claim 1, wherein Comprising: an adsorption vacuum pump is arranged in the cleaning adsorption device. When the vertical distance between the bottom of the cleaning aircraft and the cleaning target is less than a preset cleaning distance, the cleaning adsorption device adsorbs on the cleaning target by using the vacuum negative pressure provided by the adsorption vacuum pump.

3. The cleaning aircraft according to claim 1, characterized in that Comprising: the cleaning adsorption device includes a cleaning module and a motion mechanism connected to each other; when the cleaning adsorption device adsorbs on the cleaning target, the control processor is used to control the cleaning module to perform cleaning work, and control the motion mechanism to control the cleaning aircraft to move on the cleaning target.

4. A control method for a cleaning aircraft, characterized in that, The cleaning aircraft is as shown in the cleaning aircraft of claim 1. The method is applied to the control processor, and the method includes: when responding to a cleaning request of a cleaning target, controlling the rotor device to rotate at a rotational speed, and driving the cleaning aircraft to fly to a neighboring area of the cleaning target during the rotation; when the cleaning aircraft is located in the neighboring area, controlling the front adsorption device to adsorb on the cleaning target, and controlling the rotational speed of the rotor device to decrease until it stops. During this process, the cleaning aircraft rotates with the front adsorption device as a fixed point until the cleaning adsorption device closely adheres to and adsorbs on the cleaning target; when the cleaning adsorption device adsorbs on the cleaning target, controlling the front adsorption device to release, and controlling the cleaning adsorption device to perform mobile cleaning on the cleaning target.

5. The control method of the cleaning aircraft according to claim 4, wherein The step of, when the cleaning aircraft is located in the neighboring area, controlling the front adsorption device to adsorb on the cleaning target, includes: determining a starting fitting position of the cleaning target, and controlling the cleaning aircraft to run to a neighboring area of the starting fitting position; when the linear distance between the cleaning aircraft and the starting fitting position is less than the first preset adsorption distance, controlling the front adsorption device to adsorb on the cleaning target.

6. The control method of the cleaning aircraft according to claim 5, wherein, The step of determining the starting fitting position of the cleaning target includes: Obtain a preset cleaning position range corresponding to the cleaning target, and generate a reference coordinate axis based on the preset cleaning position range; Obtain reference profile information, where the reference profile information includes a plurality of end points, and the position range corresponding to the reference profile information is smaller than the preset cleaning position range; Determine the end point coordinates of each of the end points based on the reference coordinate axis; Obtain a starting fitting point based on the intermediate coordinates of all the end point coordinates; Obtain the reference size parameters of the aircraft, and expand the starting fitting point based on the reference size parameters of the aircraft to obtain the starting fitting position.

7. The control method of the cleaning aircraft according to claim 4, characterized in that, The controlling the rotational speed of the rotor device to decrease until it stops includes: Obtain a preset angular velocity during the downward rotation of the cleaning aircraft with the front adsorption device as the axis; Calculate the change amount of the motor rotational speed corresponding to the change in the state of the cleaning aircraft based on the preset angular velocity and the mass of the cleaning aircraft; Control the rotational speed of the rotor device until it stops based on the change amount of the motor rotational speed.

8. The control method of the cleaning aircraft according to claim 5, characterized in that When the cleaning aircraft completes the cleaning work of the cleaning target, the method further includes: Control the cleaning adsorption device to drive the cleaning drone to run to the starting fitting position; Control the front adsorption device to adsorb at the starting fitting position, and control the cleaning adsorption device to release; After the cleaning adsorption device releases, control the rotor device to start so that the cleaning aircraft resumes a horizontal flight state; Control the front adsorption device to release, and control the rotor device to drive the cleaning aircraft back to the parking position.

9. An electronic device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the control method of the cleaning aircraft according to any one of claims 4 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the control method of the cleaning aircraft according to any one of claims 4 to 8.

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