High-altitude cleaning method and device for monitoring equipment, computer equipment and storage medium

Abstract

The invention relates to a high-altitude cleaning method and device for monitoring equipment, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring a first coordinate of a rotation center point of a holder in a three-dimensional space coordinate system and a second coordinate of to-be-cleaned monitoring equipment; according to the first coordinate and the second coordinate, the relative position between the rotation center point of the holder and the monitoring equipment to be cleaned and the yaw angle and the pitch angle of the holder are calculated; according to the relative position and the yaw angle and the pitch angle of the holder, the holder is controlled to be preliminarily aligned with the to-be-cleaned monitoring equipment; acquiring an environment image of the to-be-cleaned monitoring equipment in a preset range; adjusting a yaw angle and a pitch angle of the holder according to the environment image; and according to the adjusted yaw angle and pitch angle of the holder, the holder is controlled to be aligned with the to-be-cleaned monitoring equipment again, and the unmanned aerial vehicle cleaning equipment is controlled to start cleaning work. By adopting the method, the cleaning efficiency of the monitoring equipment can be improved in a complex environment.

Description

Technical Field

[0001] The present application relates to the technical field of image recognition, and particularly to a high-altitude cleaning method, device, computer device, computer-readable storage medium, and computer program product for monitoring devices. Background Art

[0002] With the continuous development of digital power grids, image monitoring devices are widely installed on transmission lines to monitor the changes in the environment within the protection area of the transmission line channel in real time, and can timely and effectively detect wildfires, external damage, and equipment body problems, greatly improving the operation and maintenance management level of transmission lines. However, due to the close distance between the installation position of the image monitoring device and the live body of the transmission line, and the existence of pollution sources around, the phenomenon of electrostatic adsorption of dust is serious. After the device has been operating for a period of time, a large amount of dust will adhere to the monitoring lens, affecting its photographing quality. Currently, most monitoring devices do not install automatic cleaning devices such as windshield wipers, resulting in the inability to timely identify and detect transmission line defects and hidden dangers.

[0003] The traditional image monitoring operation and maintenance method is manual tower climbing and cleaning. However, due to the large number of installed image monitors, it is difficult to complete all cleaning work relying solely on manual labor. Later, personnel controlled drones to clean the image monitoring lens. Mainly, the personnel manually operated the drone to fly near the device to be cleaned and used the on-board water spraying device to clean the image monitoring lens. However, this technology has high requirements for the skills of operators, and the operation difficulty is large in complex environments, and the cleaning effect and efficiency need to be further improved.

[0004] Therefore, there is an urgent need for a high-altitude cleaning method, device, computer device, computer-readable storage medium, and computer program product for monitoring devices, which can improve the cleaning efficiency of monitoring devices in complex environments. Summary of the Invention

[0005] Based on this, it is necessary to provide a high-altitude cleaning method, device, computer device, computer-readable storage medium, and computer program product for monitoring devices that can improve the cleaning efficiency of monitoring devices in complex environments for the above technical problems.

[0006] In a first aspect, the present application provides a high-altitude cleaning method for a monitoring device, including:

[0007] Construct a three-dimensional space coordinate system and set a preset coordinate origin;

[0008] Obtain the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned;

[0009] Calculate the relative position between the rotation center point of the pan-tilt head and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt head, based on the first coordinate and the second coordinate;

[0010] Based on the relative position, as well as the yaw angle and pitch angle of the pan-tilt head, control the pan-tilt head to be initially aligned with the monitoring device to be cleaned;

[0011] Obtain the environmental image of the monitoring device to be cleaned within a preset range;

[0012] Adjust the yaw angle and pitch angle of the pan-tilt head according to the environmental image;

[0013] Based on the adjusted yaw angle and pitch angle of the pan-tilt head, control the pan-tilt head to be aligned with the monitoring device to be cleaned again, and control the drone cleaning device to start the cleaning work.

[0014] In one embodiment, the drone cleaning device is further provided with a camera module and a water spray nozzle; before adjusting the yaw angle and pitch angle of the pan-tilt head according to the environmental image, it further includes:

[0015] Obtain the three-dimensional position deviation data between the camera module and the water spray nozzle in a three-dimensional space coordinate system, where the three-dimensional position deviation data includes a horizontal direction offset vector and a vertical direction offset vector;

[0016] Based on the environmental image, obtain the horizontal target offset vector and vertical target offset vector of the camera module in the line-of-sight direction.

[0017] In one embodiment, adjusting the yaw angle and pitch angle of the pan-tilt head includes:

[0018] Based on the three-dimensional position deviation data, the horizontal target offset vector, and the vertical target offset vector, calculate the horizontal total offset vector and vertical total offset vector between the camera module and the water spray nozzle;

[0019] Based on the horizontal total offset vector and the vertical total offset vector, calculate the adjustment parameters of the yaw angle and pitch angle of the pan-tilt head;

[0020] Adjust the yaw angle and pitch angle of the pan-tilt head according to the adjustment parameters.

[0021] In one embodiment, obtaining the horizontal target offset vector and vertical target offset vector of the camera module in the line-of-sight direction based on the environmental image includes:

[0022] Obtain the camera parameters of the camera module, where the camera parameters include the field of view angle and the image resolution;

[0023] Using an object detection algorithm, identify the first pixel coordinates of the monitoring device to be cleaned in the environmental image;

[0024] Obtain the pixel coordinate deviation between the first pixel coordinates and the second pixel coordinates of the image center point of the environmental image;

[0025] According to the field of view angle and the image resolution, calculate the actual angle value corresponding to each pixel;

[0026] According to the actual angle value corresponding to each pixel and the pixel coordinate deviation, calculate the deflection angle of the monitoring device to be cleaned relative to the camera module in the optical axis direction;

[0027] Obtain the actual distance between the water spray nozzle and the monitoring device to be cleaned;

[0028] According to the actual distance and the deflection angle, calculate the horizontal target offset vector and the vertical target offset vector of the camera module in the optical axis direction.

[0029] In one embodiment, the obtaining the first coordinates of the rotation center point of the pan-tilt in the three-dimensional space coordinate system includes:

[0030] Obtain the global coordinates, attitude angles of the unmanned aerial vehicle, and the installation offset vector of the pan-tilt in the body coordinate system;

[0031] Convert the installation offset vector into an offset vector in the three-dimensional space coordinate system;

[0032] According to the offset vector in the three-dimensional space coordinate system, the global coordinates and attitude angles of the unmanned aerial vehicle, calculate the first coordinates of the rotation center point of the pan-tilt in the three-dimensional space coordinate system.

[0033] In one embodiment, the calculating the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt according to the first coordinates and the second coordinates includes:

[0034] Calculate the difference between the first coordinates and the second coordinates as the relative position, and the relative position includes the horizontal relative distance and the vertical relative distance;

[0035] According to the horizontal relative distance and the vertical relative distance, use the arctangent function and the projectile motion equation to calculate the yaw angle and pitch angle of the pan-tilt.

[0036] In a second aspect, the present application further provides a device, including:

[0037] A coordinate system construction module for constructing a three-dimensional space coordinate system and setting a preset coordinate origin;

[0038] A coordinate acquisition module, configured to acquire a first coordinate of the rotation center point of the pan-tilt in a three-dimensional space coordinate system and a second coordinate of the monitoring device to be cleaned.

[0039] A calculation module, configured to calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt according to the first coordinate and the second coordinate.

[0040] A control module, configured to control the pan-tilt to be initially aligned with the monitoring device to be cleaned according to the relative position, as well as the yaw angle and pitch angle of the pan-tilt.

[0041] The control module is further configured to control the camera module to acquire an environmental image of the monitoring device to be cleaned within a preset range.

[0042] The calculation module is further configured to adjust the yaw angle and pitch angle of the pan-tilt according to the environmental image.

[0043] The control module is further configured to control the pan-tilt to be aligned with the monitoring device to be cleaned again according to the adjusted yaw angle and pitch angle of the pan-tilt, and control the drone cleaning device to start the cleaning work.

[0044] In a third aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0045] Construct a three-dimensional space coordinate system and set a preset coordinate origin.

[0046] Acquire a first coordinate of the rotation center point of the pan-tilt in a three-dimensional space coordinate system and a second coordinate of the monitoring device to be cleaned.

[0047] Calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt according to the first coordinate and the second coordinate.

[0048] Control the pan-tilt to be initially aligned with the monitoring device to be cleaned according to the relative position, as well as the yaw angle and pitch angle of the pan-tilt.

[0049] Acquire an environmental image of the monitoring device to be cleaned within a preset range.

[0050] Adjust the yaw angle and pitch angle of the pan-tilt according to the environmental image.

[0051] Control the pan-tilt to be aligned with the monitoring device to be cleaned again according to the adjusted yaw angle and pitch angle of the pan-tilt, and control the drone cleaning device to start the cleaning work.

[0052] Fourthly, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0053] Construct a three-dimensional space coordinate system and set a preset coordinate origin;

[0054] Obtain the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned;

[0055] According to the first coordinate and the second coordinate, calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt;

[0056] According to the relative position, as well as the yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be initially aligned with the monitoring device to be cleaned;

[0057] Obtain the environmental image of the monitoring device to be cleaned within a preset range;

[0058] According to the environmental image, adjust the yaw angle and pitch angle of the pan-tilt;

[0059] According to the adjusted yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be aligned with the monitoring device to be cleaned again, and control the drone cleaning device to start the cleaning work.

[0060] Fifthly, the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0061] Construct a three-dimensional space coordinate system and set a preset coordinate origin;

[0062] Obtain the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned;

[0063] According to the first coordinate and the second coordinate, calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt;

[0064] According to the relative position, as well as the yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be initially aligned with the monitoring device to be cleaned;

[0065] Obtain the environmental image of the monitoring device to be cleaned within a preset range;

[0066] According to the environmental image, adjust the yaw angle and pitch angle of the pan-tilt;

[0067] According to the adjusted yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be aligned with the monitoring device to be cleaned again, and control the drone cleaning device to start the cleaning work.

[0068] The above-mentioned high-altitude cleaning method, device, computer equipment, computer-readable storage medium and computer program product for monitoring equipment can automatically calculate and adjust the angle of the pan-tilt head through a three-dimensional space coordinate system and image recognition technology, achieving precise alignment of the monitoring equipment; using environmental images for real-time feedback and adjustment to ensure that the water spraying device can always be aligned with the target, maintaining a high-precision cleaning effect even in complex environments; through the automatic control of the unmanned aerial vehicle (UAV) and the pan-tilt head, it realizes machine replacement of manual cleaning operations, avoiding dangerous operations such as manual climbing of towers and improving the safety of operations. By precisely calculating the yaw angle and pitch angle and combining image recognition technology for fine-tuning, it ensures that the water spraying device can accurately align with the lens of the monitoring equipment, thereby improving the cleaning quality; during the cleaning process, the cleaning effect is monitored in real time through a camera, and the water spraying angle and pressure can be adjusted according to the actual situation to ensure that the lens is thoroughly cleaned; the UAV can move freely in complex environments and can reach positions that are difficult for traditional cleaning equipment to reach, such as monitoring equipment on transmission lines; through the environmental images within a preset range, the UAV can understand the surrounding environment in advance, avoid colliding with obstacles, and ensure the safe progress of the cleaning operation. Brief Description of the Drawings

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0070] Figure 1 It is an application environment diagram of the high-altitude cleaning method for monitoring equipment in an embodiment;

[0071] Figure 2 It is a schematic flowchart of the high-altitude cleaning method for monitoring equipment in an embodiment;

[0072] Figure 3 It is a schematic structural diagram of the high-altitude cleaning of monitoring equipment in an embodiment;

[0073] Figure 4 It is a schematic flowchart of the high-altitude cleaning method for monitoring equipment in another embodiment;

[0074] Figure 5 It is a schematic flowchart of the high-altitude cleaning method for monitoring equipment in yet another embodiment;

[0075] Figure 6 It is a structural block diagram of the high-altitude cleaning device for monitoring equipment in an embodiment;

[0076] Figure 7 The internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0077] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, 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.

[0078] The high-altitude cleaning method for a monitoring device provided by an embodiment of the present application can be applied to, for example Figure 1 the application environment shown in the figure. Among them, the terminal 102 communicates with the server 104 through a network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or placed in the cloud or other network servers.

[0079] The server 104 is used to control the terminal 102 to obtain the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned; the server 104 is used to calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt according to the first coordinate and the second coordinate; according to the relative position, as well as the yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be initially aligned with the monitoring device to be cleaned; the server 104 is used to control the terminal 102 to obtain the environmental image of the monitoring device to be cleaned within a preset range; the server 104 is used to adjust the yaw angle and pitch angle of the pan-tilt according to the environmental image; according to the adjusted yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be aligned with the monitoring device to be cleaned again, and control the drone cleaning device to start the cleaning work.

[0080] Among them, the terminal 102 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server 104 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0081] In an exemplary embodiment, as Figure 2 shown, a high-altitude cleaning method for a monitoring device is provided, and this method is applied to Figure 1Taking the server 104 in it as an example, the following steps S202 to S212 are included. Among them:

[0082] Step S202, construct a three-dimensional space coordinate system, set a preset coordinate origin, and obtain the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned.

[0083] Specifically, the three-dimensional space coordinate system: This is a coordinate system composed of three mutually perpendicular coordinate axes (usually marked as X, Y, Z), used to describe the position of points in space. The position of each point can be represented by a triple (x, y, z). When constructing the coordinate system, a fixed reference point, called the coordinate origin, needs to be set. This origin is the reference point of the coordinate system, and the positions of all other points are defined relative to this origin.

[0084] The rotation center point of the pan-tilt refers to the center point of the pan-tilt device. The water spraying device is connected to the drone through the pan-tilt and can rotate around this center point. The position of this point is related to controlling the direction of the water spraying device. The first coordinate is the position of the rotation center point of the pan-tilt in the three-dimensional space coordinate system, represented by a triple (x1, y1, z1).

[0085] The monitoring device to be cleaned refers to the image monitoring lens that needs to be cleaned, and its position is the target that the water spraying device needs to aim at. The second coordinate is the position of the monitoring device to be cleaned in the three-dimensional space coordinate system, represented by a triple (x2, y2, z2).

[0086] Generally, the first coordinate is calculated through the global coordinates of the drone and the installation offset vector of the pan-tilt. If the monitoring device has a GPS function, the second coordinate can be directly obtained. If the monitoring device does not have a GPS function, its coordinates can be obtained through the three-dimensional point cloud data of the transmission line.

[0087] Step S204, according to the first coordinate and the second coordinate, calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt.

[0088] Specifically, the relative position refers to the vector from the rotation center point of the pan-tilt to the monitoring device to be cleaned. The yaw angle (Yaw) is the angle between the projection of the line connecting the rotation center point of the pan-tilt to the target point on the horizontal plane and the due north direction (or the X axis). The pitch angle (Pitch) is the angle between the line connecting the rotation center point of the pan-tilt to the target point and the horizontal plane. The yaw angle (Yaw) determines how many degrees the pan-tilt needs to rotate in the horizontal direction to align the water outlet of the water spraying device with the target. The pitch angle determines how many degrees the pan-tilt needs to rotate in the vertical direction to ensure that the water outlet of the water spraying device can accurately align with the height of the target.

[0089] Step S206: Control the pan-tilt head to preliminarily align with the monitoring device to be cleaned according to the relative position, as well as the yaw angle and pitch angle of the pan-tilt head.

[0090] Specifically, according to the calculated yaw angle and pitch angle, the motors of the pan-tilt head can be controlled to make the pan-tilt head rotate horizontally or vertically, so that the pan-tilt head rotates to the correct position, thereby realizing the preliminary alignment of the target.

[0091] Step S208: Obtain the environmental image of the monitoring device to be cleaned within a preset range.

[0092] Specifically, in this application, an imaging module installed on the pan-tilt head is used to obtain the environmental image. The imaging module can be a high-resolution camera dedicated to image recognition.

[0093] When the drone flies to a position near the monitoring device to be cleaned and the pan-tilt head is preliminarily aligned, the imaging module takes an environmental image within the preset range; the captured image is transmitted to the ground control station or processing system through wireless communication. The preset range can be achieved by setting the flight path of the drone or the shooting angle of the camera. If the monitoring device is small, the preset range can be set smaller to reduce the complexity of image processing; the shape of the preset range can be circular, square or other shapes, specifically depending on the layout of the monitoring device and the requirements of the cleaning operation.

[0094] Step S210: Adjust the yaw angle and pitch angle of the pan-tilt head according to the environmental image.

[0095] Specifically, obtaining the environmental image is to further determine the position of the monitoring device to be cleaned in the environmental image, and then determine whether the water spray nozzle on the pan-tilt head is aligned with the lens of the monitoring device to be cleaned. If not, the yaw angle and pitch angle of the pan-tilt head need to be further adjusted.

[0096] Step S212: Control the pan-tilt head to align with the monitoring device to be cleaned again according to the adjusted yaw angle and pitch angle of the pan-tilt head, and control the drone cleaning device to start the cleaning work.

[0097] Specifically, in order to ensure that the drone cleaning device can accurately align with the monitoring device to be cleaned, it is necessary to control the pan-tilt head to make fine adjustments again according to the adjusted angles. This step is to further improve the alignment accuracy and ensure that the water spray nozzle can accurately point to the lens of the monitoring device to be cleaned. Through the control system of the pan-tilt head, according to the adjusted yaw angle and pitch angle, the motors of the pan-tilt head are adjusted to make the pan-tilt head rotate to a new position. This step usually requires precise motor control and feedback mechanism to ensure that the pan-tilt head can accurately reach the specified angle. After the pan-tilt head aligns with the target, it is necessary to start the drone cleaning device to work. Figure 3As shown in the figure, the drone cleaning device includes a water spray nozzle, a water spray pipe, a pressure pump, a water storage tank, and a camera module.

[0098] In the above-mentioned high-altitude cleaning method of the monitoring device, through the three-dimensional space coordinate system and image recognition technology, the drone can automatically calculate and adjust the angle of the pan-tilt head, achieving precise alignment with the monitoring device; using the environmental image for real-time feedback and adjustment to ensure that the water spraying device can always be aligned with the target, and maintaining a high-precision cleaning effect even in a complex environment; through the automated control of the drone and the pan-tilt head, it realizes the replacement of manual cleaning operations with machines, avoiding dangerous operations such as manual climbing of towers, and improving the safety of the operation. By accurately calculating the yaw angle and pitch angle and combining image recognition technology for fine-tuning, it ensures that the water spraying device can accurately align with the lens of the monitoring device, thereby improving the cleaning quality; during the cleaning process, the cleaning effect is monitored in real time through the camera, and the water spraying angle and pressure can be adjusted according to the actual situation to ensure that the lens is thoroughly cleaned; the drone can move freely in a complex environment and can reach positions that are difficult for traditional cleaning equipment to reach, such as monitoring devices on transmission lines; through the environmental image within a preset range, the drone can understand the surrounding environment in advance, avoid colliding with obstacles, and ensure the safe progress of the cleaning operation.

[0099] In an exemplary embodiment, the drone cleaning device is further provided with a camera module and a water spray nozzle; before adjusting the yaw angle and pitch angle of the pan-tilt head according to the environmental image, it further includes:

[0100] Obtain the three-dimensional position deviation data between the camera module and the water spray nozzle in the three-dimensional space coordinate system, and the three-dimensional position deviation data includes a horizontal direction offset vector and a vertical direction offset vector;

[0101] According to the environmental image, obtain the horizontal target offset vector and the vertical target offset vector in the visual axis direction of the camera module.

[0102] Specifically, the camera module and the water spray nozzle on the drone are two different components, and there is a certain spatial position deviation between them. This deviation includes a horizontal direction offset vector and a vertical direction offset vector. The horizontal direction offset vector represents the position difference between the camera module and the water spray nozzle in the horizontal direction, and the vertical direction offset vector represents the position difference between the camera module and the water spray nozzle in the vertical direction.

[0103] When performing precise aiming, it is necessary to consider the position deviation between the camera module and the water spray nozzle. If the pan-tilt head is adjusted directly according to the image information of the camera module while ignoring this deviation, it may cause the water spray nozzle to fail to accurately align with the target. These three-dimensional position deviation data are usually obtained through physical measurements during the device manufacturing or installation stage and stored in the system as fixed parameters. For example, the horizontal and vertical offsets between the camera module and the water spray nozzle are determined by precise measuring tools.

[0104] Based on the environmental image captured by the camera module, the position of the target (i.e., the monitoring device to be cleaned) in the image can be determined. In the image, the position of the target can be represented by pixel coordinates. According to these pixel coordinates, the horizontal and vertical offset vectors of the target relative to the optical axis direction of the camera module can be calculated. The horizontal target offset vector represents the offset of the target in the horizontal direction relative to the optical axis of the camera module, and the vertical target offset vector represents the offset of the target in the vertical direction relative to the optical axis of the camera module.

[0105] In this embodiment, when performing precise aiming, the position deviation between the camera module and the water spray nozzle needs to be considered, and the angle of the pan-tilt head is adjusted in combination with the target offset vector in the environmental image. In this way, it can be ensured that the water spray nozzle can accurately align with the monitoring device to be cleaned, improving the accuracy and efficiency of the cleaning operation.

[0106] In an exemplary embodiment, as Figure 4 shown, adjusting the yaw angle and pitch angle of the pan-tilt head includes:

[0107] Step S402: Calculate the horizontal total offset vector and vertical total offset vector between the camera module and the water spray nozzle according to the three-dimensional position deviation data, horizontal target offset vector, and vertical target offset vector;

[0108] Step S404: Calculate the adjustment parameters for the yaw angle and pitch angle of the pan-tilt head according to the horizontal total offset vector and vertical total offset vector;

[0109] Step S406: Adjust the yaw angle and pitch angle of the pan-tilt head according to the adjustment parameters.

[0110] Specifically, according to the above, the three-dimensional position deviation data is the fixed offset between the camera module and the water spray nozzle, usually measured during device design or installation. It includes the horizontal direction offset vector (dx, 0) and the vertical direction offset vector (0, dy). The horizontal target offset vector and vertical target offset vector are calculated based on the environmental image, representing the offset of the target's position in the image relative to the optical axis of the camera module. The horizontal target offset vector is Δu, and the vertical target offset vector is Δv.

[0111] Add the horizontal offset vector between the camera module and the water spray nozzle to the horizontal target offset vector to obtain the horizontal total offset vector: Horizontal total offset vector = dx + Δu. Add the vertical offset vector between the camera module and the water spray nozzle to the vertical target offset vector to obtain the vertical total offset vector: Vertical total offset vector = dy + Δv.

[0112] The horizontal total offset vector and the vertical total offset vector are necessary factors for calculating the pitch angle and yaw angle of the pan-tilt head. It is also necessary to combine the camera parameters of the camera module to calculate the adjustment parameters for the yaw angle and pitch angle of the pan-tilt head. According to the calculated yaw angle adjustment parameter and pitch angle adjustment parameter, control the motors of the pan-tilt head to rotate the pan-tilt head to a new position. After adjustment, take the environmental image again and repeat the above steps until the target center point coincides with the image center point to ensure that the water spray nozzle can accurately align with the target.

[0113] In this embodiment, by calculating the horizontal total offset vector and the vertical total offset vector, the UAV cleaning device can accurately adjust the angle of the pan-tilt head to ensure that the water spray nozzle can accurately align with the monitoring device to be cleaned. This process combines the fixed offset and real-time image information, and realizes high-precision alignment through closed-loop control, improving the efficiency and reliability of the cleaning operation.

[0114] In an exemplary embodiment, as Figure 5 shown, according to the environmental image, obtain the horizontal target offset vector and the vertical target offset vector of the camera module in the optical axis direction, including:

[0115] Step S502, obtain the camera parameters of the camera module, where the camera parameters include the field of view angle and the image resolution;

[0116] Step S504, adopt a target detection algorithm to identify the first pixel coordinates of the monitoring device to be cleaned in the environmental image;

[0117] Step S506, obtain the pixel coordinate deviation between the first pixel coordinates and the second pixel coordinates of the image center point of the environmental image;

[0118] Step S508, according to the field of view angle and the image resolution, calculate the actual angle value corresponding to each pixel;

[0119] Step S510, according to the actual angle value corresponding to each pixel and the pixel coordinate deviation, calculate the deflection angle of the monitoring device to be cleaned relative to the camera module in the optical axis direction;

[0120] Step S512, obtain the actual distance between the water spray nozzle and the monitoring device to be cleaned;

[0121] Step S514, according to the actual distance and the deflection angle, calculate the horizontal target offset vector and the vertical target offset vector of the camera module in the optical axis direction.

[0122] Specifically, image recognition algorithms (such as YOLO, SSD, etc.) are used to identify the position of the monitoring device to be cleaned in the environmental image. The first pixel coordinates refer to the pixel coordinates of the identified monitoring device to be cleaned in the environmental image, denoted as (u, v). The second pixel coordinates refer to the pixel coordinates of the center point of the image in the environmental image, denoted as (u0, v0). Calculate the deviation between the first pixel coordinates and the center point of the image: Δu = u - u0, Δv = v - v0.

[0123] Among them, the camera parameters include the field of view (Field of View, FOV) and the image resolution. The field of view is usually divided into the horizontal field of view FOVx and the vertical field of view FOVy. The image resolution is usually expressed as the width and height of the image, such as 640x480. The actual angle value corresponding to each pixel includes the actual angles corresponding to each pixel in the horizontal and vertical directions: the horizontal angle of each pixel = image width / FOVx, the vertical angle of each pixel = image height / FOVy.

[0124] Among them, according to the actual angle value corresponding to each pixel and the pixel coordinate deviation, the deviation angle of the monitoring device to be cleaned relative to the camera module in the optical axis direction is calculated, including: multiplying the horizontal pixel coordinate deviation by the horizontal angle of each pixel to obtain the horizontal deviation angle: Δθx = Δu * the horizontal angle of each pixel. Multiplying the vertical pixel coordinate deviation by the vertical angle of each pixel to obtain the vertical deviation angle: Δθy = Δv * the vertical angle of each pixel.

[0125] Among them, obtaining the actual distance between the water spray nozzle and the monitoring device to be cleaned refers to obtaining the actual distance L between the water spray nozzle and the monitoring device to be cleaned through a certain method (such as laser ranging, three-dimensional point cloud, etc.).

[0126] Among them, converting the horizontal deviation angle into an offset on the actual distance to obtain the horizontal target offset vector: Δx = D × tan(Δθx). Converting the vertical deviation angle into an offset on the actual distance to obtain the vertical target offset vector: Δy = D × tan(Δθy).

[0127] In this embodiment, through precise target positioning and pan-tilt adjustment, efficient and precise cleaning of the monitoring device lens is achieved, improving the automation degree and adaptability of the cleaning operation, reducing the operation difficulty and risk, while optimizing resource utilization and enhancing the performance of the entire cleaning system.

[0128] In an exemplary embodiment, obtaining the first coordinates of the rotation center point of the pan-tilt in the three-dimensional space coordinate system includes:

[0129] Obtaining the global coordinates, attitude angles of the drone, and the installation offset vector of the pan-tilt in the body coordinate system;

[0130] Convert the installation offset vector into an offset vector in a three-dimensional space coordinate system;

[0131] Calculate the first coordinate of the rotation center point of the pan-tilt head in the three-dimensional space coordinate system based on the offset vector in the three-dimensional space coordinate system, the global coordinates of the drone, and the attitude angles.

[0132] Specifically, the global coordinates refer to the position of the drone in the three-dimensional space, usually expressed as (xd, yd, zd). The attitude angles refer to the attitude of the drone, usually including the yaw angle (Yaw), pitch angle (Pitch), and roll angle (Roll). The installation offset vector refers to the position offset of the pan-tilt head in the drone body coordinate system, expressed as (dx, dy, dz).

[0133] Among them, to convert the installation offset vector into an offset vector in the three-dimensional space coordinate system, it is necessary to convert the installation offset vector of the pan-tilt head in the body coordinate system into an offset vector in the global coordinate system, which involves using a rotation matrix to convert the offset vector according to the attitude angles of the drone.

[0134] Specifically, the installation offset vector is converted into an offset vector in the global coordinate system through the rotation matrix, and then the offset vector in the global coordinate system is added to the global coordinates of the drone to obtain the global coordinates of the rotation center point of the pan-tilt head.

[0135] Specifically, a rotation matrix R is constructed according to the attitude angles (Yaw, Pitch, Roll) of the drone; the rotation matrix R is usually composed of three basic rotation matrices (rotation around the Z-axis, Y-axis, and X-axis); the installation offset vector (dx, dy, dz) is converted into an offset vector (Δx, Δy, Δz) in the global coordinate system through the rotation matrix R; the offset vector (Δx, Δy, Δz) in the global coordinate system is added to the global coordinates (xd, yd, zd) of the drone to obtain the global coordinates (x1, y1, z1) of the rotation center point of the pan-tilt head, that is, the first coordinate.

[0136] In this embodiment, through the above steps, the position of the rotation center point of the pan-tilt head in the three-dimensional space coordinate system can be accurately calculated. This process involves the global coordinates of the drone, the attitude angles, and the installation offset vector of the pan-tilt head, and is converted through the rotation matrix to finally obtain the coordinates of the rotation center point of the pan-tilt head.

[0137] In an exemplary embodiment, according to the first coordinate and the second coordinate, calculate the relative position between the rotation center point of the pan-tilt head and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt head, including:

[0138] Calculate the difference between the first coordinate and the second coordinate and use it as the relative position, and the relative position includes the horizontal relative distance and the vertical relative distance;

[0139] According to the horizontal relative distance and the vertical relative distance, the yaw angle and the pitch angle of the pan-tilt are calculated using the arctangent function and the projectile motion equation.

[0140] Specifically, the first coordinate: the coordinate of the rotation center point of the pan-tilt, denoted as (x1, y1, z1). The second coordinate: the coordinate of the monitoring device to be cleaned, denoted as (x2, y2, z2).

[0141] The relative position refers to calculating the difference between the two coordinates to obtain the relative position vector (Δx, Δy, Δz): Δx = x2 - x1, Δy = y2 - y1, Δz = z2 - z1. Among them, Δx and Δy represent the horizontal relative distance, and Δz represents the vertical relative distance.

[0142] Specifically, the yaw angle is the angle between the projection of the line connecting the rotation center point of the pan-tilt to the target point on the horizontal plane and the due north direction (or the X-axis), and the arctangent function is used to calculate the yaw angle; the pitch angle is the angle between the line connecting the rotation center point of the pan-tilt to the target point and the horizontal plane, and the projectile motion equation and the arctangent function are used to calculate the pitch angle.

[0143] In this embodiment, by calculating the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, and using the arctangent function and the projectile motion equation, the yaw angle and the pitch angle of the pan-tilt can be accurately calculated.

[0144] The most detailed embodiment of this application is as follows:

[0145] I. Coordinate positioning and preliminary aiming:

[0146] The first coordinate of the rotation center point of the pan-tilt: ;

[0147] The second coordinate of the monitoring device to be cleaned: .

[0148] ① Define the coordinate system and parameters:

[0149] The global coordinate of the UAV: , indicating the position of the UAV in the geographical coordinate system.

[0150] The attitude angle (Euler angle) of the UAV: Yaw angle: ψ (rotation around the Z-axis, direction angle); Pitch angle: θ (rotation around the Y-axis, front and back tilt); Roll angle: ϕ (rotation around the X-axis, left and right tilt).

[0151] Installation offset vector of the gimbal: In the UAV body coordinate system, the offset (dx, dy, dz) of the rotation center point of the gimbal relative to the center coordinates of the UAV (which can be obtained through the on-board GPS). For example, if the gimbal is directly below the UAV, it is (0, 0, -h), where h is the vertical distance.

[0152] ②Construct the rotation matrix:

[0153] The attitude of the UAV is represented by the rotation matrix R. Combine the rotation matrix in the order of Z-Y-X (that is, yaw first, then pitch, and finally roll):

[0154] ;

[0155] Among them, the rotation matrix of each axis is:

[0156] Around the Z axis (yaw):

[0157] ;

[0158] Around the Y axis (pitch):

[0159] ;

[0160] Around the X axis (roll):

[0161] ;

[0162] ③Calculate the global coordinates of the gimbal offset:

[0163] Convert the offset (dx, dy, dz) of the gimbal in the body coordinate system into an offset vector in the three-dimensional space coordinate system:

[0164] ;

[0165] ④Global coordinates (i.e., the first coordinates) of the rotation center point of the gimbal:

[0166] ;

[0167] 2. Calculate the relative position:

[0168] ;

[0169] Horizontal distance: ; Vertical distance: h = dz.

[0170] 3. Calculate the yaw angle (Yaw) of the gimbal:

[0171] ;

[0172] 4. Calculate the pitch angle (Pitch) of the gimbal:

[0173] Assume the initial water spray velocity is v0 (measured according to the equipment performance), and the acceleration due to gravity is g. The projectile motion equation is:

[0174] ;

[0175] Eliminating the time t, the pitch angle is solved as:

[0176] ;

[0177] 5. Coarse aiming based on coordinate information:

[0178] The drone flies to the vicinity of the monitoring equipment to be cleaned. The pan rotates horizontally by θyaw and the tilt rotates vertically by θpitch, enabling coarse aiming at the monitoring equipment to be cleaned.

[0179] (2) Accurate aiming based on image recognition:

[0180] 1. Measuring the physical offset:

[0181] Through physical appearance measurement, the horizontal offset w and the vertical offset h1 can be obtained.

[0182] 2. Camera parameter calibration:

[0183] Based on the camera parameters for image recognition, the field of view angle α FOV ×β FOV and the image resolution (W img , H img ) can be obtained.

[0184] 3. Real-time image processing:

[0185] Using an object detection algorithm, the first pixel coordinates (u target , v target ) of the monitoring equipment to be cleaned in the environmental image are identified.

[0186] The pixel coordinate deviation between the first pixel coordinates and the second pixel coordinates (u0, v0) of the image center point of the environmental image is obtained: Δu = u target - u0, Δv = v target - v0.

[0187] 4. Converting the pixel coordinate deviation to the pan-tilt angle deviation:

[0188] The actual angle value corresponding to each pixel: δ α = α FOV / W img , δ β = β FOV / H img .

[0189] The deflection angle of the monitoring device to be cleaned relative to the camera module in the optical axis direction: Δα = Δu * δ α , Δβ = Δv * δ β .

[0190] 5. Calculate the actual distance between the water spray nozzle and the monitoring device to be cleaned:

[0191] ; where M is the length of the water spraying device.

[0192] 6. Fine adjustment of the angle of the pan-tilt head:

[0193] ① Calculate the actual spatial offset:

[0194] Calculate the horizontal target offset vector and the vertical target offset vector of the camera module in the optical axis direction (horizontal x cam , vertical y cam ):

[0195] ;

[0196] ② Compensate for the position deviation of the water spray nozzle:

[0197] Calculate the horizontal total offset vector and the vertical total offset vector between the camera module and the water spray nozzle:

[0198] ;

[0199] ③ Calculate the adjustment angle of the water spray nozzle:

[0200] Yaw angle correction amount φ: φ = arctan(x total / L);

[0201] Pitch angle correction amount θ: θ = arctan(y total / L).

[0202] 7. Closed-loop control and real-time adjustment:

[0203] ① Adjust the angle of the pan-tilt head according to φ and θ so that the water spray nozzle is aligned with the monitoring device to be cleaned.

[0204] ② Continuously feedback and loop through the fine adjustment steps until the center of the monitoring device to be cleaned in the environmental image coincides with the image center (Δu = 0, Δv = 0), that is, the water spray hits the target and the cleaning work is carried out.

[0205] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this document, there is no strict order limit for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0206] Based on the same inventive concept, an embodiment of the present application also provides a high-altitude cleaning device for a monitoring device for implementing the high-altitude cleaning method of the monitoring device involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the high-altitude cleaning device for the monitoring device provided below can refer to the limitations on the high-altitude cleaning method of the monitoring device in the above text, and will not be repeated here.

[0207] In an exemplary embodiment, as Figure 6 shown, a high-altitude cleaning device for a monitoring device is provided, including:

[0208] A coordinate system construction module 602, configured to construct a three-dimensional space coordinate system and set a preset coordinate origin;

[0209] A coordinate acquisition module 604, configured to acquire the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned;

[0210] A calculation module 606, configured to calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt according to the first coordinate and the second coordinate;

[0211] A control module 608, configured to initially align the pan-tilt with the monitoring device to be cleaned according to the relative position, as well as the yaw angle and pitch angle of the pan-tilt;

[0212] The control module 608 is further configured to control the camera module to acquire the environmental image of the monitoring device to be cleaned within a preset range;

[0213] The calculation module 606 is further configured to adjust the yaw angle and pitch angle of the pan-tilt according to the environmental image;

[0214] The control module 608 is further configured to control the pan-tilt head to align with the monitoring device to be cleaned again according to the adjusted yaw angle and pitch angle of the pan-tilt head, and control the drone cleaning device to start the cleaning operation.

[0215] In an exemplary embodiment, the drone cleaning device is further provided with a camera module and a water spray nozzle;

[0216] The calculation module 606 is further configured to obtain three-dimensional position deviation data between the camera module and the water spray nozzle in a three-dimensional space coordinate system, where the three-dimensional position deviation data includes a horizontal direction offset vector and a vertical direction offset vector; and obtain a horizontal target offset vector and a vertical target offset vector of the camera module in the visual axis direction according to the environmental image.

[0217] In an exemplary embodiment, the calculation module 606 is further configured to calculate a horizontal total offset vector and a vertical total offset vector between the camera module and the water spray nozzle according to the three-dimensional position deviation data, the horizontal target offset vector, and the vertical target offset vector; calculate adjustment parameters for the yaw angle and pitch angle of the pan-tilt head according to the horizontal total offset vector and the vertical total offset vector; and adjust the yaw angle and pitch angle of the pan-tilt head according to the adjustment parameters.

[0218] In an exemplary embodiment, the acquisition module is configured to acquire camera parameters of the camera module, where the camera parameters include a field of view angle and an image resolution;

[0219] The recognition module is configured to use a target detection algorithm to recognize the first pixel coordinates of the monitoring device to be cleaned in the environmental image;

[0220] The calculation module 606 is further configured to acquire a pixel coordinate deviation between the first pixel coordinates and the second pixel coordinates of the image center point of the environmental image; calculate an actual angle value corresponding to each pixel according to the field of view angle and the image resolution; and calculate a deviation angle of the monitoring device to be cleaned relative to the camera module in the visual axis direction according to the actual angle value corresponding to each pixel and the pixel coordinate deviation.

[0221] The acquisition module is further configured to acquire the actual distance between the water spray nozzle and the monitoring device to be cleaned;

[0222] The calculation module 606 is further configured to calculate a horizontal target offset vector and a vertical target offset vector of the camera module in the visual axis direction according to the actual distance and the deviation angle.

[0223] In an exemplary embodiment, the coordinate acquisition module 604 is further configured to acquire the global coordinates, attitude angles of the drone, and the installation offset vector of the pan-tilt head in the body coordinate system;

[0224] The calculation module 606 is further configured to convert the installation offset vector into an offset vector in a three-dimensional space coordinate system; and calculate the first coordinate of the rotation center point of the pan-tilt head in the three-dimensional space coordinate system according to the offset vector in the three-dimensional space coordinate system, the global coordinates of the drone, and the attitude angles.

[0225] In an exemplary embodiment, the calculation module 606 is further configured to calculate the difference between the first coordinate and the second coordinate and use it as the relative position, where the relative position includes the horizontal relative distance and the vertical relative distance; and calculate the yaw angle and the pitch angle of the pan-tilt head according to the horizontal relative distance and the vertical relative distance by using the arctangent function and the projectile motion equation.

[0226] Each module in the high-altitude cleaning device of the above monitoring device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form to facilitate the processor to call and execute the operations corresponding to the above respective modules.

[0227] In an exemplary embodiment, a computer device is provided. The computer device can be a server, and its internal structural diagram can be as Figure 7 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the first coordinate, the second coordinate, and the environmental image data. The input / output interface of the computer device is used for the processor to exchange information with external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a high-altitude cleaning method for a monitoring device.

[0228] Those skilled in the art can understand that Figure 7 the structure shown in

[0229] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0230] Construct a three-dimensional space coordinate system and set a preset coordinate origin;

[0231] Obtain the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned;

[0232] According to the first coordinate and the second coordinate, calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt;

[0233] According to the relative position, as well as the yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be initially aligned with the monitoring device to be cleaned;

[0234] Obtain the environmental image of the monitoring device to be cleaned within a preset range;

[0235] According to the environmental image, adjust the yaw angle and pitch angle of the pan-tilt;

[0236] According to the adjusted yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be aligned with the monitoring device to be cleaned again, and control the drone cleaning device to start the cleaning work.

[0237] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0238] The drone cleaning device is further provided with a camera module and a water spray nozzle;

[0239] Obtain the three-dimensional position deviation data between the camera module and the water spray nozzle in the three-dimensional space coordinate system. The three-dimensional position deviation data includes a horizontal direction offset vector and a vertical direction offset vector;

[0240] According to the environmental image, obtain the horizontal target offset vector and the vertical target offset vector of the camera module in the line-of-sight direction.

[0241] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0242] According to the three-dimensional position deviation data, the horizontal target offset vector and the vertical target offset vector, calculate and obtain the horizontal total offset vector and the vertical total offset vector between the camera module and the water spray nozzle;

[0243] According to the horizontal total offset vector and the vertical total offset vector, calculate and obtain the adjustment parameters of the yaw angle and pitch angle of the pan-tilt;

[0244] According to the adjustment parameters, adjust the yaw angle and pitch angle of the pan-tilt.

[0245] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0246] Obtain the camera parameters of the camera module, where the camera parameters include the field of view angle and the image resolution;

[0247] Adopt a target detection algorithm to identify the first pixel coordinates of the monitoring device to be cleaned in the environmental image;

[0248] Obtain the pixel coordinate deviation between the first pixel coordinates and the second pixel coordinates of the image center point of the environmental image;

[0249] According to the field of view angle and the image resolution, calculate the actual angle value corresponding to each pixel;

[0250] According to the actual angle value corresponding to each pixel and the pixel coordinate deviation, calculate the deflection angle of the monitoring device to be cleaned relative to the camera module in the optical axis direction;

[0251] Obtain the actual distance between the water spray nozzle and the monitoring device to be cleaned;

[0252] According to the actual distance and the deflection angle, calculate the horizontal target offset vector and the vertical target offset vector of the camera module in the optical axis direction.

[0253] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0254] Obtain the global coordinates of the unmanned aerial vehicle, the attitude angle, and the installation offset vector of the pan-tilt in the body coordinate system;

[0255] Convert the installation offset vector into an offset vector in the three-dimensional space coordinate system;

[0256] According to the offset vector in the three-dimensional space coordinate system, the global coordinates of the unmanned aerial vehicle, and the attitude angle, calculate the first coordinates of the rotation center point of the pan-tilt in the three-dimensional space coordinate system.

[0257] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0258] Calculate the difference between the first coordinates and the second coordinates and use it as the relative position, where the relative position includes the horizontal relative distance and the vertical relative distance;

[0259] According to the horizontal relative distance and the vertical relative distance, use the arctangent function and the projectile motion equation to calculate the yaw angle and the pitch angle of the pan-tilt.

[0260] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0261] Construct a three-dimensional space coordinate system and set a preset coordinate origin;

[0262] Obtain the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned;

[0263] According to the first coordinate and the second coordinate, calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt;

[0264] According to the relative position, as well as the yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be initially aligned with the monitoring device to be cleaned;

[0265] Obtain the environmental image of the monitoring device to be cleaned within a preset range;

[0266] According to the environmental image, adjust the yaw angle and pitch angle of the pan-tilt;

[0267] According to the adjusted yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be aligned with the monitoring device to be cleaned again, and control the drone cleaning device to start the cleaning work.

[0268] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0269] The drone cleaning device is further provided with a camera module and a water spray nozzle;

[0270] Obtain the three-dimensional position deviation data between the camera module and the water spray nozzle in the three-dimensional space coordinate system, and the three-dimensional position deviation data includes a horizontal direction offset vector and a vertical direction offset vector;

[0271] According to the environmental image, obtain the horizontal target offset vector and the vertical target offset vector of the camera module in the line-of-sight direction.

[0272] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0273] According to the three-dimensional position deviation data, the horizontal target offset vector and the vertical target offset vector, calculate and obtain the horizontal total offset vector and the vertical total offset vector between the camera module and the water spray nozzle;

[0274] According to the horizontal total offset vector and the vertical total offset vector, calculate and obtain the adjustment parameters of the yaw angle and pitch angle of the pan-tilt;

[0275] According to the adjustment parameters, adjust the yaw angle and pitch angle of the pan-tilt.

[0276] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0277] Obtain the camera parameters of the camera module, and the camera parameters include the field of view angle and the image resolution;

[0278] Adopt a target detection algorithm to identify the first pixel coordinates of the monitoring device to be cleaned in the environmental image;

[0279] Obtain the pixel coordinate deviation between the first pixel coordinates and the second pixel coordinates of the image center point of the environmental image;

[0280] According to the field of view angle and image resolution, calculate the actual angle value corresponding to each pixel;

[0281] According to the actual angle value corresponding to each pixel and the pixel coordinate deviation, calculate the deflection angle of the monitoring device to be cleaned relative to the camera module in the optical axis direction;

[0282] Obtain the actual distance between the water spray nozzle and the monitoring device to be cleaned;

[0283] According to the actual distance and the deflection angle, calculate the horizontal target offset vector and the vertical target offset vector of the camera module in the optical axis direction.

[0284] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0285] Obtain the global coordinates, attitude angles of the unmanned aerial vehicle, and the installation offset vector of the pan-tilt in the body coordinate system;

[0286] Convert the installation offset vector into an offset vector in the three-dimensional space coordinate system;

[0287] According to the offset vector in the three-dimensional space coordinate system, the global coordinates and attitude angles of the unmanned aerial vehicle, calculate the first coordinates of the rotation center point of the pan-tilt in the three-dimensional space coordinate system.

[0288] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0289] Calculate the difference between the first coordinates and the second coordinates, and use it as the relative position, where the relative position includes the horizontal relative distance and the vertical relative distance;

[0290] According to the horizontal relative distance and the vertical relative distance, use the arctangent function and the projectile motion equation to calculate the yaw angle and pitch angle of the pan-tilt.

[0291] In one embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0292] Construct a three-dimensional space coordinate system and set a preset coordinate origin;

[0293] Obtain the first coordinates of the rotation center point of the pan-tilt in the three-dimensional space coordinate system and the second coordinates of the monitoring device to be cleaned;

[0294] Based on the first coordinate and the second coordinate, calculate the relative position between the rotation center point of the pan-tilt head and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt head;

[0295] Based on the relative position, as well as the yaw angle and pitch angle of the pan-tilt head, control the pan-tilt head to preliminarily align with the monitoring device to be cleaned;

[0296] Obtain the environmental image of the monitoring device to be cleaned within a preset range;

[0297] Based on the environmental image, adjust the yaw angle and pitch angle of the pan-tilt head;

[0298] Based on the adjusted yaw angle and pitch angle of the pan-tilt head, control the pan-tilt head to align with the monitoring device to be cleaned again, and control the drone cleaning device to start the cleaning work.

[0299] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0300] The drone cleaning device is further provided with a camera module and a water spray nozzle;

[0301] Obtain the three-dimensional position deviation data between the camera module and the water spray nozzle in the three-dimensional space coordinate system, and the three-dimensional position deviation data includes a horizontal direction offset vector and a vertical direction offset vector;

[0302] Based on the environmental image, obtain the horizontal target offset vector and the vertical target offset vector of the camera module in the line-of-sight direction.

[0303] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0304] Based on the three-dimensional position deviation data, the horizontal target offset vector and the vertical target offset vector, calculate and obtain the horizontal total offset vector and the vertical total offset vector between the camera module and the water spray nozzle;

[0305] Based on the horizontal total offset vector and the vertical total offset vector, calculate and obtain the adjustment parameters of the yaw angle and pitch angle of the pan-tilt head;

[0306] Based on the adjustment parameters, adjust the yaw angle and pitch angle of the pan-tilt head.

[0307] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0308] Obtain the camera parameters of the camera module, and the camera parameters include the field of view angle and the image resolution;

[0309] Adopt a target detection algorithm to identify the first pixel coordinates of the monitoring device to be cleaned in the environmental image;

[0310] Obtain the pixel coordinate deviation between the first pixel coordinate and the second pixel coordinate of the image center point of the environmental image;

[0311] According to the field of view angle and the image resolution, calculate the actual angle value corresponding to each pixel;

[0312] According to the actual angle value corresponding to each pixel and the pixel coordinate deviation, calculate the deflection angle of the monitoring device to be cleaned relative to the camera module in the optical axis direction;

[0313] Obtain the actual distance between the water spray nozzle and the monitoring device to be cleaned;

[0314] According to the actual distance and the deflection angle, calculate the horizontal target offset vector and the vertical target offset vector of the camera module in the optical axis direction.

[0315] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0316] Obtain the global coordinates, attitude angles of the unmanned aerial vehicle, and the installation offset vector of the pan-tilt head in the body coordinate system;

[0317] Convert the installation offset vector into an offset vector in the three-dimensional space coordinate system;

[0318] According to the offset vector in the three-dimensional space coordinate system, the global coordinates of the unmanned aerial vehicle, and the attitude angles, calculate the first coordinates of the rotation center point of the pan-tilt head in the three-dimensional space coordinate system.

[0319] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0320] Calculate the difference between the first coordinates and the second coordinates, and use it as the relative position, where the relative position includes the horizontal relative distance and the vertical relative distance;

[0321] According to the horizontal relative distance and the vertical relative distance, use the arctangent function and the projectile motion equation to calculate the yaw angle and pitch angle of the pan-tilt head.

[0322] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0323] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., and are not limited thereto.

[0324] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in the present application.

[0325] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for high-altitude cleaning of a monitoring device, characterized in that, An unmanned aerial vehicle cleaning device applied to a pan-tilt; The method includes: Construct a three-dimensional space coordinate system and set a preset coordinate origin; Obtain the first coordinate of the rotation center point of the pan-tilt and the second coordinate of the monitoring device to be cleaned in the three-dimensional space coordinate system; According to the first coordinate and the second coordinate, calculate the relative position between the rotation center point of the pan-tilt and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt; According to the relative position, as well as the yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be preliminarily aligned with the monitoring device to be cleaned; Obtain the environmental image of the monitoring device to be cleaned within a preset range; According to the environmental image, adjust the yaw angle and pitch angle of the pan-tilt; According to the adjusted yaw angle and pitch angle of the pan-tilt, control the pan-tilt to be aligned with the monitoring device to be cleaned again, and control the unmanned aerial vehicle cleaning device to start the cleaning work.

2. The method according to claim 1, wherein The unmanned aerial vehicle cleaning device is also provided with a camera module and a water spray nozzle; Before adjusting the yaw angle and pitch angle of the pan-tilt according to the environmental image, it further includes: Obtain the three-dimensional position deviation data between the camera module and the water spray nozzle in the three-dimensional space coordinate system, and the three-dimensional position deviation data includes a horizontal direction offset vector and a vertical direction offset vector; According to the environmental image, obtain the horizontal target offset vector and vertical target offset vector of the camera module in the visual axis direction.

3. The method according to claim 2, characterized in that, The adjusting the yaw angle and pitch angle of the pan-tilt includes: According to the three-dimensional position deviation data, the horizontal target offset vector and the vertical target offset vector, calculate and obtain the horizontal total offset vector and vertical total offset vector between the camera module and the water spray nozzle; According to the horizontal total offset vector and the vertical total offset vector, calculate and obtain the adjustment parameters of the yaw angle and pitch angle of the pan-tilt; According to the adjustment parameters, adjust the yaw angle and pitch angle of the pan-tilt.

4. The method according to claim 2, wherein The obtaining the horizontal target offset vector and vertical target offset vector of the camera module in the visual axis direction according to the environmental image includes: Obtain the camera parameters of the camera module, and the camera parameters include the field of view angle and the image resolution; Adopt a target detection algorithm to identify the first pixel coordinates of the monitoring device to be cleaned in the environmental image; Obtain the pixel coordinate deviation between the first pixel coordinates and the second pixel coordinates of the image center point of the environmental image; According to the field of view angle and the image resolution, calculate the actual angle value corresponding to each pixel; According to the actual angle value corresponding to each pixel and the pixel coordinate deviation, calculate the deflection angle of the monitoring device to be cleaned relative to the camera module in the visual axis direction; Obtain the actual distance between the water spray nozzle and the monitoring device to be cleaned; According to the actual distance and the deflection angle, calculate and obtain the horizontal target offset vector and vertical target offset vector of the camera module in the visual axis direction.

5. The method according to claim 1, characterized in that The obtaining the first coordinate of the rotation center point of the pan-tilt in the three-dimensional space coordinate system includes: Obtain the global coordinates, attitude angles of the unmanned aerial vehicle and the installation offset vector of the pan-tilt in the body coordinate system; Convert the installation offset vector into an offset vector in the three-dimensional space coordinate system; Calculate the first coordinate of the rotation center point of the pan-tilt head in the three-dimensional space coordinate system based on the offset vector in the three-dimensional space coordinate system, the global coordinates of the UAV, and the attitude angles.

6. The method according to claim 1, characterized in that, Calculating the relative position between the rotation center point of the pan-tilt head and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt head according to the first coordinate and the second coordinate, includes: Calculate the difference between the first coordinate and the second coordinate and use it as the relative position, where the relative position includes the horizontal relative distance and the vertical relative distance; According to the horizontal relative distance and the vertical relative distance, use the arctangent function and the projectile motion equation to calculate the yaw angle and pitch angle of the pan-tilt head.

7. An aerial cleaning device for a monitoring device, characterized in that, The device includes: A coordinate system construction module for constructing a three-dimensional space coordinate system and setting a preset coordinate origin; A coordinate acquisition module for acquiring the first coordinate of the rotation center point of the pan-tilt head in the three-dimensional space coordinate system and the second coordinate of the monitoring device to be cleaned; A calculation module for calculating the relative position between the rotation center point of the pan-tilt head and the monitoring device to be cleaned, as well as the yaw angle and pitch angle of the pan-tilt head according to the first coordinate and the second coordinate; A control module for initially aligning the pan-tilt head with the monitoring device to be cleaned according to the relative position, as well as the yaw angle and pitch angle of the pan-tilt head; The control module is further configured to control the camera module to acquire the environmental image of the monitoring device to be cleaned within a preset range; The calculation module is further configured to adjust the yaw angle and pitch angle of the pan-tilt head according to the environmental image; The control module is further configured to control the pan-tilt head to align with the monitoring device to be cleaned again according to the adjusted yaw angle and pitch angle of the pan-tilt head, and control the UAV cleaning device to start the cleaning work.

8. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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