Unmanned aerial vehicle facade cleaning method, device and system and computer readable storage medium

Abstract

The invention discloses an unmanned aerial vehicle facade cleaning method, device and system and a computer readable storage medium. The technology mainly comprises the following steps: after receiving and executing a first flight instruction, flying to a target position of a vertical surface to obtain first position information and second position information; then the first position information and the second position information are transmitted to a ground control station so that the ground control station can generate route data according to the first position information and the second position information; and then the unmanned aerial vehicle receives the route data and the cleaning execution instruction sent by the ground control station, executes flight according to the route data, and executes the water spraying operation according to the cleaning execution instruction while flying. The unmanned aerial vehicle is controlled to acquire the initial position of the facade in advance and then send the initial position to the ground control station for route planning, and finally a corresponding route is formed. And the unmanned aerial vehicle realizes automatic water spraying in the self-flying process according to the route and the corresponding cleaning execution instruction, and automatic cleaning operation is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surface decontamination, in particular to a method, device and system for cleaning the facade of a building by using a UAV, and a computer readable storage medium. BACKGROUND

[0002] Traditional surface decontamination is performed by manual operation. If the curtain wall of a building is to be cleaned, a worker is usually suspended outside the curtain wall by using a high-altitude suspension operation equipment on the top floor of the building, and then the curtain wall is cleaned by manual operation. This cleaning operation has some problems. On the one hand, the cleaning efficiency is not high; on the other hand, the safety of the worker is a concern.

[0003] Therefore, it is a demand to provide a new cleaning operation mode.

[0004] With the rapid development of UAV technology, a UAV with cleaning function has emerged as the times require. Generally, such a UAV with cleaning function carries its own water tank or is connected to a ground water supply device for cleaning. When the UAV is controlled, it is usually controlled by manual remote control. For example, patent application No. 202411297346.2 discloses a technical solution comprising the following steps: step one: the power cord is electrically connected to the battery to supply power to the entire device, the water storage tank is filled with water and cleaning agent for curtain wall cleaning; step two: the entire device is remotely controlled to fly to the highest part of the curtain wall, the water pump and the pressure pump are started, and the water sprayed by the sprinkler head is added with cleaning agent to wash the curtain wall from top to bottom; step three: after the water washing is started, the UAV is remotely controlled to approach the glass curtain wall so that the cleaning cotton and the curtain wall are in contact, the small motor is started to drive the six-rib connecting rod to rotate, and the cleaning cotton on the cleaning roller is rotated to wipe and clean the curtain wall from top to bottom; step four: when the cleaning cotton and the curtain wall are in contact, the water-repellent cotton above the cleaning cotton is also in contact with the curtain wall, and the water-repellent cotton removes the water left on the curtain wall cleaned by the cleaning cotton to prevent water marks left on the curtain wall after the water dries. This method is also controlled by manual control. Although it solves the problems of low efficiency and low safety of traditional manned operation, it still has the following problems:

[0005] Manual operation of the remote controller for a long time requires excessive concentration of effort, which can easily lead to fatigue. Once fatigue or operation error occurs, the UAV can easily deviate, even hit the curtain wall or fall to the ground, causing safety concerns. On the other hand, manual operation cannot accurately control the flight path during cleaning, which can lead to incomplete cleaning and missed cleaning.

[0006] Therefore, the above technical problems need to be solved. SUMMARY

[0007] The main purpose of the present application is to provide a kind of unmanned plane facade cleaning method, device, system and computer readable storage medium, to solve the problem that the cleaning function unmanned plane of prior art cannot realize autonomous flight, autonomous cleaning.

[0008] To achieve the above object, the present application proposes an unmanned plane facade cleaning method in one aspect, comprising the following steps:

[0009] receive and execute first flight instruction, to fly to the target position of facade and obtain first position information and second position information;

[0010] The first position information and second position information are transmitted to the ground control station for the ground control station to generate route data according to the first position information and the second position information;

[0011] receive the route data and cleaning execution instruction sent by the ground control station;

[0012] According to the route data, flight is executed and the water spraying operation is executed according to the cleaning execution instruction at the same time.

[0013] Further, the first position information and the second position information are obtained as follows:

[0014] When reaching the first position, receive the first position confirmation instruction at the first time;

[0015] intercept the positioning information of the first position at the first time to generate the first position information;

[0016] When reaching the second position, receive the second position confirmation instruction at the second time;

[0017] intercept the positioning information of the second target position at the second time to generate the second position information.

[0018] Further, the first position confirmation instruction and the second position confirmation instruction are realized by one of the positioning buttons of the ground control station or the unmanned plane staying at the corresponding position for a preset time or the unmanned plane executing confirmation action at the corresponding position.

[0019] Further, the unmanned plane facade cleaning method further comprises the following steps: obtaining the real-time distance between the unmanned plane and the facade;

[0020] determine whether the real-time distance is in the preset spraying distance range;

[0021] If the preset spraying distance is exceeded, output the second flight instruction for the unmanned plane flight control execution mechanism to execute to adjust the actual distance between the unmanned plane and the facade to the preset spraying distance range.

[0022] Further, the real-time distance between the UAV and the facade is detected by a radar arranged on the UAV.

[0023] Further, after the step of receiving and executing the first flight instruction to fly to the target position of the facade to obtain the first position information and the second position information, and before the step of executing the flight according to the flight path data and executing the water spraying operation according to the cleaning execution instruction during the flight, the method further comprises the following steps:

[0024] Receiving a third flight instruction to fly to a third preset position for the UAV to assemble a cleaning device.

[0025] Further, the UAV facade cleaning method further comprises the following steps:

[0026] Obtaining size information of a groove of the current facade;

[0027] Determining whether the size information of the groove meets a preset spatial range for UAV cleaning;

[0028] If yes, outputting a fourth flight instruction to enter the groove to perform the operation;

[0029] If no, not entering.

[0030] The present application also proposes a UAV facade cleaning device, comprising:

[0031] A first receiving module for receiving and executing a first flight instruction to fly to a target position of a facade to obtain first position information and second position information;

[0032] A sending module for transmitting the first position information and the second position information to a ground control station for the ground control station to generate flight path data according to the first position information and the second position information;

[0033] A second receiving module for receiving flight path data and cleaning execution instructions sent by the ground control station;

[0034] An execution module for executing the flight according to the flight path data and executing the water spraying operation according to the cleaning execution instruction during the flight.

[0035] The present application further proposes a UAV facade cleaning system, which is configured to have:

[0036] A UAV;

[0037] A detection radar arranged on the UAV for detecting a facade;

[0038] An RTK base station in communication connection with the UAV to provide positioning signals to the UAV;

[0039] A cleaning device is installed on the drone and communicates with the drone for cleaning the facade under controlled conditions.

[0040] A ground control station is communicatively connected to the UAV to enable interaction with the UAV.

[0041] The drone is configured to have a processor, a memory, and a facade cleaning process stored in the memory and executable on the processor; when the facade cleaning process is executed by the processor, it implements the steps of the drone facade cleaning method described above.

[0042] Finally, the present invention proposes a computer-readable storage medium storing a facade cleaning process program, which, when executed by a processor, implements the steps of the UAV facade cleaning method described above.

[0043] The beneficial effects that this invention can achieve are:

[0044] This invention discloses a method, apparatus, system, and computer-readable storage medium for unmanned aerial vehicle (UAV) facade cleaning. The technology primarily involves receiving and executing a first flight command, then flying to the target location on the facade to acquire first and second location information. This information is then transmitted to a ground control station, which generates flight path data based on the first and second location information. The UAV receives the flight path data and cleaning execution command from the ground control station and executes flight according to the flight path data, while simultaneously performing water spraying operations according to the cleaning execution command. In other words, by controlling the UAV to pre-acquire the starting position of the area to be cleaned and sending it to the ground control station for flight path planning, a corresponding flight path is formed. The UAV automatically sprays water during its autonomous flight according to the flight path and the corresponding cleaning execution command, achieving automated cleaning operations. Attached Figure Description

[0045] Figure 1 A schematic diagram of the hardware framework of the drone cleaning system of the present invention;

[0046] Figure 2 This is a schematic diagram of the electronic control structure of the UAV of the present invention;

[0047] Figure 3 A simplified diagram of the mechanical structure of the drone;

[0048] Figure 4 This is a schematic diagram of the structure of a first embodiment of the cleaning device;

[0049] Figure 5 This is a schematic diagram of the structure of a second embodiment of the cleaning device;

[0050] Figure 6 This is a flowchart illustrating a method for cleaning the facade of a drone, according to an embodiment of the present invention.

[0051] Figure 7 This is a schematic diagram of the interactive interface for the route generation unit.

[0052] Figure 8 A schematic diagram showing the route for a drone to enter and clean the curtain wall recesses;

[0053] Figure 9 A clear route diagram showing how a drone can bypass the protrusions in the mold cavity. Detailed Implementation

[0054] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0055] The main solution of this invention is as follows: After manually controlling the UAV to fly to the target facade and obtain its initial and final position coordinates, the data is sent back to the ground control station. The ground control station then inputs this coordinate information into the flight path planning model to automatically generate a flight path. Finally, the corresponding flight path and cleaning control commands are sent to the UAV for execution.

[0056] Since most existing technologies rely on manual intervention throughout the flight control process, problems such as inconvenient cleaning operations, high labor intensity for operators, safety concerns, and incomplete cleaning are likely to occur.

[0057] The solution provided by this invention can resolve the aforementioned problems. Specifically, it automates the cleaning process by using an automated route, reducing labor intensity, lowering the likelihood of safety accidents, and improving cleaning effectiveness.

[0058] The following will be combined with the appendix Figure 1 -Appendix Figure 9 This paper details the terminal structure of the hardware operating environment involved in the embodiments of the present invention.

[0059] like Figure 1 As shown, this figure illustrates the basic hardware framework of an embodiment of the present invention. Figure 1 The hardware of the embodiment of the present invention shown mainly includes three basic structures: a drone 10, a ground control station 50, and a cleaning device 40. The drone 10 and the ground control station 50 are communicatively connected and interact with each other. The cleaning device 40 is mounted on the drone 10 and is communicatively connected to the drone 10 for performing cleaning operations on the facade under controlled conditions.

[0060] In addition, the hardware of the embodiment of the present application can further include an RTK base station 30, which is in communication connection with the unmanned aerial vehicle 10 to provide positioning signals to the unmanned aerial vehicle 10. The RTK base station has high-precision positioning function, and the positioning information provided to the unmanned aerial vehicle 10 can reach centimeter level, greatly facilitating the control of the flight of the unmanned aerial vehicle 10.

[0061] Specifically, the unmanned aerial vehicle 10 serves as a carrier to carry the cleaning device 40. The unmanned aerial vehicle 10 preferably adopts a multi-rotor unmanned aerial vehicle. The multi-rotor unmanned aerial vehicle facilitates hovering and flexible control of the unmanned aerial vehicle 10 to meet the water spraying cleaning operation. For example, the unmanned aerial vehicle can be a four-rotor unmanned aerial vehicle or a six-rotor unmanned aerial vehicle or an eight-rotor unmanned aerial vehicle.

[0062] As shown in Figure 2 The unmanned aerial vehicle 10 is configured to have a processor 101 and a memory 102. The processor 101 is in communication connection with the memory 102 to enable the processor 101 to run software stored in the memory 102. The processor 101 and the memory 102 can be integrated on a circuit board of the unmanned aerial vehicle 10. The processor 101 can be an existing chip that can meet the configuration of the unmanned aerial vehicle. The memory 102 can be a high-speed RAM memory or a stable memory (non-volatile memory) such as a disk memory. The memory can be optionally a storage device independent of the aforementioned processor. The memory 102 can also be optionally designed in an integrated manner with the processor 101.

[0063] The unmanned aerial vehicle 10 further includes a communication module 103. The communication module 103 is connected with the processor 101. The communication module 103 is used for communication interconnection with external devices to receive information of external devices (such as the RTK base station 30 and the ground control station 50). The communication module 103 can be integrated on a circuit board of the unmanned aerial vehicle 10. The communication module 103 can include a plurality of different communication units. For example, a combination of a radio remote control module and a mobile cellular network technology unit is adopted. The radio remote control module can be used for communication with the ground control station 50, and the mobile cellular network technology unit can be used for interaction with a remote server to realize information interaction. Of course, in addition thereto, other communication networks such as a Bluetooth communication module can also be used. The Bluetooth communication module can be used for interaction with a terminal (such as a mobile phone) to realize signal transmission. It should be clear that the present embodiment is only an enumeration. In practice, various feasible communication modules can be set according to actual needs. This is easily conceivable for those skilled in the art.

[0064] The unmanned aerial vehicle 10 is also provided with detection radars 20. The detection radars 20 can detect obstacles to realize the obstacle avoidance operation of the unmanned aerial vehicle 10. Meanwhile, the detection radars 20 can also detect the distance from the to-be-cleaned area (such as a curtain wall) to satisfy the unmanned aerial vehicle 10 to keep a set distance from the to-be-cleaned area (such as a curtain wall) during the cleaning process. Preferably, the detection radars 20 are, for example, millimeter wave radar sensors. The number of the detection radars 20 can be set according to actual needs. For example, two detection radars 20 are arranged. In a specific embodiment, as shown in Figure 3 The unmanned aerial vehicle 20 includes four arms 104, and two detection radars 20 are respectively arranged at the front ends of two adjacent arms 104. When flying, the two arms provided with the detection radars 20 are distributed towards the to-be-cleaned area (such as a curtain wall).

[0065] In addition to the processor 101 and the memory 102, the unmanned aerial vehicle 10 can also include a network interface, a user interface, a communication bus, etc. The communication bus is used to realize the connection and communication between other electric control components of the unmanned aerial vehicle 10. The user interface can include a display screen (Display) and an input unit such as a keyboard (Keyboard). The optional user interface can also include a standard wired interface and a wireless interface. The network interface can optionally include a standard wireless interface (such as a WI-FI interface). The unmanned aerial vehicle 10 can include other functional sensors, such as a barometric pressure sensor, a wind speed sensor, an accelerometer, etc. Various sensing information is obtained for the intelligent flight control of the unmanned aerial vehicle 10.

[0066] Optionally, the unmanned aerial vehicle 10 can also include a camera, an RF (Radio Frequency, radio frequency) circuit, a sensor, an audio circuit, a WiFi module, etc. The sensor can include, for example, a light sensor, a motion sensor, and other sensors. Specifically, the light sensor can include an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor can turn off the display screen and / or the backlight when the mobile terminal is moved to the ear. As a kind of motion sensor, the gravity acceleration sensor can detect the size of acceleration in each direction (generally three axes), and can detect the size and direction of gravity when at rest, which can be used for identifying the posture of the mobile terminal, vibration recognition related functions (such as a pedometer, a knock), etc. Of course, the mobile terminal can also be configured with a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and other sensors, which will not be described here.

[0067] The ground control station 50 is an integrated control structure. It is used for communication connection with the unmanned aerial vehicle 10 to realize data transmission, and is also used for controlling the flight of the unmanned aerial vehicle 10. In the embodiment, the ground control station 50 is preferably integrated with the remote controller of the unmanned aerial vehicle 10 as a whole structure. The ground control station 50 is configured to have a control chip and a memory. The memory can be, for example, the memory described above, which will not be described here. The memory can prestore a route generation program. When the start position positioning information and the end position positioning information of the to-be-cleaned area of the facade and other set parameters are input, the control chip can run the route generation program in the memory to generate a corresponding route and output route data. It should be clear that the route generation program described in the embodiment is the existing technology. The present invention does not optimize the technology for how to generate a route, and the existing technology can be used to realize it. Therefore, the present invention will not be described in detail, but it should not be considered that the disclosed technology is insufficient. In order to realize data transmission, the ground control station 50 also has a communication unit connected with the control chip for realizing interaction with the unmanned aerial vehicle. Similarly, the communication unit of the ground control station 50 is similar to the communication module of the unmanned aerial vehicle, and can be realized by using a plurality of different communication modules.

[0068] In the present invention, the remote controller of the unmanned aerial vehicle 10 is integrated with the ground control station 50. That is, the ground control station 50 has the function of generating a route and also has the function of the remote controller of the unmanned aerial vehicle 10. It should be clear that the remote controller technology of the unmanned aerial vehicle 10 is existing, and can be used to realize interaction with the unmanned aerial vehicle 10 to satisfy the flight control of the unmanned aerial vehicle 10. The ground control station 50 can include a positioning button (not shown in the figure). The positioning button is connected with the control chip of the ground control station 50. When the positioning button is triggered, the ground control station 50 can send an instruction to the unmanned aerial vehicle 10 to ask for the positioning information of the current position of the unmanned aerial vehicle. When the unmanned aerial vehicle receives the instruction, it will save the positioning information of the current position at that time and return it to the ground control station 50 for use by the ground control station 50 when planning a route.

[0069] In the present invention, the unmanned aerial vehicle 10 can have a plurality of different flight control modes. For example, including a constant height mode, a constant point mode and a constant point obstacle avoidance mode.

[0070] Constant height mode: a flight mode that automatically maintains the current height through the flight control system, while allowing manual control of roll, pitch and heading. The mode detects height changes through sensors (such as barometers, accelerometers, etc.) and automatically adjusts the throttle to compensate for height fluctuations.

[0071] Fixed-point mode: on the basis of fixed height mode, the unmanned aerial vehicle 10 can maintain accurate position by fusing satellite positioning information received by the unmanned aerial vehicle 10, especially in cooperation with the RTK base station, and the positioning accuracy can reach centimeter level.

[0072] Fixed-point obstacle avoidance mode: the unmanned aerial vehicle 10 can accurately measure the distance between the aircraft and the building by using the detection radar 20, and through flight control algorithm control, the unmanned aerial vehicle 10 can display the distance to the obstacle in real time during flight, and the minimum distance between the unmanned aerial vehicle 10 and the obstacle can be adjusted by setting the obstacle avoidance distance. When the unmanned aerial vehicle 10 approaches the obstacle before reaching the minimum distance, the aircraft can approach the obstacle; when the unmanned aerial vehicle 10 approaches the obstacle when reaching the minimum distance, the unmanned aerial vehicle 10 cannot approach the obstacle, and the operation in other directions is not affected; when the unmanned aerial vehicle 10 is less than the minimum distance, the unmanned aerial vehicle 10 will automatically move away from the obstacle, and the operation in other directions is not affected.

[0073] It should be clear that the fixed height mode, fixed point mode and fixed point obstacle avoidance mode described in the technical solution can be realized by existing technology, and in the present embodiment, only the unmanned aerial vehicle 10 of the present invention has the same function to meet the cleaning operation requirement. Therefore, the specific control scheme is not described in detail in the present invention; but it should not be considered that the technical solution of the present invention is not fully disclosed.

[0074] Referring to Figure 1 , the cleaning device 40 and the unmanned aerial vehicle 10 of the present invention can be detachably assembled. That is, when in use, the cleaning device 40 is mounted on the unmanned aerial vehicle 10. When the cleaning function is not used, the cleaning device 40 can be detached. In the present invention, the cleaning device 40 can be realized by existing technology. For example, the applicant proposes a kind of unmanned aerial vehicle cleaning system, and the technical solution of application number 2025203385334. Of course, it is not limited to this, and the cleaning device 40 of the present invention can be any other structure. Among them, it should be noted that the cleaning device 40 includes a spray gun body 401 and a liquid supply tank 402. The liquid supply tank 402 is in communication with the spray gun body 401 to supply the spray gun body 401 with a spray. Among them, a water pump can be provided at the liquid supply tank 402 for pumping the spray to the spray gun body 401. In another embodiment, an electromagnetic valve (not shown in the figure) is provided at the spray gun body 401; the electromagnetic valve is electrically connected to the unmanned aerial vehicle 10 to be controlled by the unmanned aerial vehicle 10. Specifically, during control, the ground control station 50 can send a control instruction to the communication module 103 of the unmanned aerial vehicle 10, and the processor 101 of the unmanned aerial vehicle 10 can control the opening and closing of the electromagnetic valve according to the control instruction to realize control. For example, Figure 4 , in one embodiment, the spray gun body 401 and the liquid supply tank 402 can be mounted on the unmanned aerial vehicle 10 at the same time. This way is more suitable for the situation of long-distance small-capacity spray cleaning demand. For example, Figure 5In another embodiment, the spray gun body 401 is separated from the liquid supply tank 402, and the spray gun body 401 is arranged on the unmanned aerial vehicle 10, and the liquid supply tank 402 is placed on the ground, and the spray gun body 401 and the liquid supply tank 402 are communicated through the liquid supply pipe 403. When the unmanned aerial vehicle 10 flies, the unmanned aerial vehicle 10 drags the liquid supply pipe 403 to fly together.

[0075] Embodiment one

[0076] Specifically, in order to solve the problem that the existing unmanned aerial vehicle cleaning technology cannot realize automatic navigation flight cleaning, an embodiment proposes a method for cleaning the facade of an unmanned aerial vehicle. The method can be used to automatically generate a flight route according to the positioning information of two positions set by the to-be-cleaned area and transmit the flight route to the unmanned aerial vehicle for automatic flight of the unmanned aerial vehicle to complete the cleaning operation. Specifically, referring to Figure 6 , the method comprises the following steps:

[0077] S10: receiving and executing a first flight instruction to fly to a target position of a facade to obtain first position information and second position information;

[0078] S20: transmitting the first position information and the second position information to a ground control station for the ground control station to generate flight route data according to the first position information and the second position information;

[0079] S30: receiving flight route data and cleaning execution instructions sent by the ground control station;

[0080] S40: executing flight according to the flight route data and performing the water spraying operation according to the cleaning execution instructions while flying.

[0081] In detail, in the S10 step, the first flight instruction can be performed by the ground control station 50 (remote controller). That is, the unmanned aerial vehicle 10 is remotely controlled by the remote controller to fly to the predetermined area. It should be clear that the corresponding to-be-cleaned area (facade) of the present application is selected by the user according to the needs. For example, when cleaning the glass curtain wall, the entire curtain wall can be cleaned, or a specific floor or a specific area can be selected for cleaning. When selecting the to-be-cleaned area, the user selects it through the ground control station 50. As Figure 6 shown, the ground control station 50 is remotely controlled to fly to point A of the curtain wall 100. The point A can be used as the first position information. Then the ground control station 50 is remotely controlled to fly to point B of the curtain wall 100. The point B can be used as the second position information.

[0082] It should be noted that the specific positioning information of the first position information and the second position information in the embodiment can be detected by the positioning module of the unmanned aerial vehicle 10, such as the GPS module or the Beidou positioning module. In another embodiment, it can also be determined by the RTK base station 30 sending to the unmanned aerial vehicle 10.

[0083] In detail, the specific acquisition method of the first and second position information can be obtained in the following way.

[0084] S11: When reaching the first position, receive the first position confirmation instruction at the first time;

[0085] S12: Interception of the positioning information of the first position at the first time to generate the first position information;

[0086] S13: When reaching the second position, receive the second position confirmation instruction at the second time;

[0087] S14: Interception of the positioning information of the second target position at the second time to generate the second position information.

[0088] In a specific embodiment, the first position confirmation instruction and the second position confirmation instruction are realized by one of the positioning keys of the ground control station 50 or the unmanned aerial vehicle staying at the corresponding position for a predetermined time or the unmanned aerial vehicle performing a confirmation action at the corresponding position.

[0089] Specifically, in the S11 step, the UAV 10 enters the flight path planning process. When the UAV 10 is remotely controlled by the ground control station 50 to fly to the first position away from the curtain (facade), the UAV 10 receives a first position confirmation instruction at a first time. The output of the first position confirmation instruction can have three main ways. One is to obtain it by pressing the positioning button of the ground control station 50. Specifically, when the UAV 10 flies to the first position, the user presses the positioning button of the ground control station 50, which triggers the ground control station 50 to send the first position confirmation instruction to the UAV 10. The UAV 10 receives the first position confirmation instruction. The second way is that when the UAV 10 is remotely controlled to fly to the first position, it stays at the first position for a preset time, and the time when the preset time ends is the first time. The preset time can be set, such as 5 seconds or 10 seconds. Of course, any simple change in the preset time should fall within the protection scope of the present application. At this time, the UAV 10 automatically generates a first position confirmation instruction. The third way is to remotely control the UAV 10 to fly to the first position, and then remotely control the UAV 10 to rotate a preset angle within a specified time, and the moment when the rotation angle is reached is the first time, at which time the UAV 10 generates a first position confirmation instruction to the processor 101. The rotation of the preset angle within the specified time can be set. For example, 360° rotation within 3 seconds. Then the moment when 360° rotation within 3 seconds is completed is the first time. At this time, the UAV 10 generates a first position confirmation instruction to the processor 101.

[0090] In the S12 step, when the UAV 10 receives the first position confirmation instruction, the processor 101 of the UAV 10 intercepts the positioning information of the first position at the first time to generate the first position information. That is, the UAV 10 takes the positioning information of the positioning module of itself at the first time as the first position information, or takes the position received from the RTK base station 30 at the first time as the first position information.

[0091] After the first position is determined, the UAV 10 is remotely controlled by the ground control station 50 to fly to the second position expected by the user. Then the UAV 10 receives a second position confirmation instruction at the second position, and then intercepts the positioning information of the second target position at the second time according to the second position confirmation instruction to generate the second position information. The method of confirming the second position is the same as the method of confirming the first position information described above, which will not be described in detail here, but it should not be considered that the present embodiment is not fully disclosed.

[0092] The S20 step is to generate the flight path of the UAV 10 in the cleaning process.

[0093] Specifically, step S20 involves transmitting the first and second location information to the ground control station so that the ground control station can generate flight path data based on the first and second location information. That is, after the UAV 10 acquires the first and second location information, it sends it to the ground control station 50 via the communication module 103. Upon receiving the first and second location information, the ground control station 50 inputs it into the flight path generation unit, which automatically generates the corresponding flight path data. In one specific embodiment, when generating flight path data, the flight path's movement mode, flight path mode, flight path spacing, distance to a wall, flight speed, etc., can be selected. Figure 7 As shown in the figure, this diagram illustrates the display interface of the route generation unit at ground control station 50. Parameters can be set during route generation. Specific parameters can be preset. Importantly, in this embodiment, the route generation unit and route generation program are implemented using existing route generation technology, which will not be elaborated upon in this embodiment.

[0094] After the route generation unit in step S20 generates route data, the ground control station 50 sends the route data and cleaning execution instructions to the UAV 10. The communication module 103 of the UAV 10 receives the route data and cleaning execution instructions and stores them in the memory 101.

[0095] After receiving the flight path data and the cleaning execution command, the UAV 10 executes the flight path data and the cleaning execution command via the processor 101. The processor 101 of the UAV 10 performs flight according to the flight path data and simultaneously performs the water spraying operation according to the cleaning execution command.

[0096] Specifically, when executing the flight path data, the UAV 10 first flies to the starting point (point A) and then begins executing the specific flight path. While navigating from point A, it simultaneously executes cleaning commands to perform cleaning operations. During the execution of the cleaning commands, the processor 101 of the UAV 10 controls the solenoid valve of the cleaning device 40 to open. The water pump of the cleaning device 40 starts, supplying the spray agent from the supply tank 402 to the spray nozzle of the spray gun body 401 to spray and wash the wall surface.

[0097] In another embodiment, the drone facade cleaning method further includes the following steps:

[0098] Obtain the real-time distance between the drone and the facade;

[0099] Determine whether the real-time distance is within the preset spraying distance range;

[0100] If the actual distance is out of the preset spraying distance, a second flight instruction is outputted for the flight control of the UAV to execute to adjust the actual distance between the UAV and the facade to be within the preset spraying distance range. The real-time distance between the UAV and the facade is detected by the radar arranged on the UAV.

[0101] That is, during the flight of the UAV 10 according to the flight path data, the detection radar 20 of the UAV 10 can detect the distance between the UAV 10 and the curtain at any time. When the obtained real-time distance is not within the preset spraying distance range, a second flight instruction is outputted to control the UAV 10 to fly to a suitable position. By using the technical scheme, the UAV 10 can be ensured to maintain a set distance to the curtain to achieve a better cleaning effect. For example, the preset spraying distance range is that the distance between the UAV and the curtain is between 2.5 and 3 meters. If the detection radar 20 detects that the distance between the UAV 10 and the curtain is 3.5 meters, the second flight instruction is outputted to control the propeller of the UAV 10 to work until the distance between the UAV and the curtain is between 2.5 and 3 meters.

[0102] In another embodiment, after the steps of receiving and executing the first control instruction to fly to the target position of the facade to obtain the first position information and the second position information, and before the steps of executing the flight according to the flight path data and executing the water spraying operation according to the cleaning execution instruction during the flight, the method further comprises the step of receiving a third flight instruction to fly to a third preset position for the UAV to assemble the cleaning device. The purpose of this embodiment is to ensure that the UAV can fly lightly when obtaining the first position and the second position of the curtain to improve the efficiency. That is, the UAV 10 does not assemble the cleaning device when obtaining the first position information and the second position information. Instead, the UAV 10 itself flies to the desired first position and second position. This can improve the positioning efficiency and reduce the energy consumption of the UAV to avoid unnecessary energy consumption. The third flight instruction is sent by the ground control station 50. That is, the ground control station 50 remotely controls the UAV to fly to the position of the cleaning device.

[0103] In a preferred embodiment, in order to ensure that the UAV 10 can adapt to different curtains and thus ensure cleaning, the application also proposes a curtain that is not completely flat. As shown in FIG. 1, in some curtains 100, there are grooves 1001. According to the flight direction, the UAV 10 can detect the grooves 1001 of the curtain 100. When the size of the groove 1001 obtained can meet the entry of the UAV 10, the UAV 100 can enter the groove 1001 to clean. Figure 8

[0104] In detail, the cleaning method further comprises the following steps:

[0105] ​Obtain the dimension information of the recess on the current facade;

[0106] Determine whether the size information of the groove meets the preset space range for drone cleaning;

[0107] If the conditions are met, a fourth flight command is output to enter the groove and perform the operation;

[0108] If the conditions are not met, then do not proceed.

[0109] Specifically, as the drone 10 travels along the flight path, the detection radar 20 located on the drone 10 continuously monitors the distance to the curtain wall 100. When a groove is detected, the size of the groove is calculated.

[0110] The detection of the presence and size of the groove in the curtain wall using radar 20 can be achieved using existing technology, which will not be detailed in this embodiment. When the groove 1001 is detected, its overall dimensions are compared with those of the drone 10. If the overall dimensions of the groove 1001 are larger than those of the drone 10, the groove's dimensions are considered to meet the preset space range for drone cleaning. Specifically, if the length, width, and height of the groove 1001 are all greater than the overall dimensions of the drone 10, then the corresponding preset space range can be considered met. Specifically, a safety distance can be set, i.e., a certain safety distance in the length, width, and height directions, to ensure the drone 10 operates more safely within the groove 1001.

[0111] In another embodiment, when the detection radar 20 at the drone 10 detects a protrusion on the curtain wall, and the size of the protrusion is larger than a set size, the drone 10 can retreat away from the protrusion to ensure that the cleaning device can better clean the protrusion. Specifically, the detection method of the detection radar 20 for detecting protrusions can be implemented using existing technology. For example... Figure 9 As shown, when the drone 10 travels along its flight path, the detection radar 20 detects a protrusion 1002. The detection radar 20 will analyze the overall dimensions of the protrusion. For example, if the dimension in the distance between the drone 10 and the curtain wall is 0.5 meters, and the dimension in the flight path direction is 1 meter, then the drone 10 will retreat 0.5 meters when it reaches the protrusion 1002, and will readjust its distance from the curtain wall once it has completely left the protrusion 1002 in the flight path, ensuring that the cleaning operation is performed at the preset distance to the wall.

[0112] In summary, this invention automates curtain wall cleaning by locating the area to be cleaned, enabling automatic flight path planning and automatic flight cleaning.

[0113] Example 2

[0114] The present invention also proposes a drone facade cleaning device, comprising:

[0115] a first receiving module, configured to receive and execute a first flight instruction to fly to a target position of a facade to obtain first position information and second position information;

[0116] a sending module, configured to transmit the first position information and the second position information to a ground control station to generate flight path data according to the first position information and the second position information;

[0117] a second receiving module, configured to receive flight path data and a cleaning execution instruction sent by the ground control station;

[0118] an execution module, configured to execute flight according to the flight path data and execute the water spraying operation according to the cleaning execution instruction during the flight.

[0119] The facade cleaning system can realize automatic flight path planning and automatic flight cleaning for the positioning of the cleaning area, and realizes the automation of the curtain wall cleaning.

[0120] Embodiment 3

[0121] The present application further provides a facade cleaning system of a UAV, which is configured to have:

[0122] a UAV 10;

[0123] a detection radar 20 arranged on the UAV 10 to detect a facade;

[0124] an RTK base station 30 in communication connection with the UAV 10 to provide a positioning signal to the UAV 10;

[0125] a cleaning device 40 arranged on the UAV 10 and in communication connection with the UAV 10 to perform a cleaning operation on the facade under control;

[0126] a ground control station 50 in communication connection with the UAV 10 to realize interaction with the UAV 10;

[0127] The UAV 10 is configured to have a processor, a memory, and a facade cleaning processing program stored on the memory and executable on the processor; and the facade cleaning processing program, when executed by the processor, realizes the steps of the facade cleaning method of any one of the above.

[0128] That is, the UAV sends the starting position corresponding to the cleaning area to the ground control station to perform flight path planning, and finally forms a corresponding flight path. The UAV realizes automatic water spraying during self-flight according to the flight path and the corresponding cleaning execution instruction, and realizes automatic cleaning operation.

[0129] Embodiment 4

[0130] Finally, the present application proposes a computer readable storage medium, the computer readable storage medium has a facade cleaning processing program stored thereon, the facade cleaning processing program is executed by a processor to implement the steps of the UAV facade cleaning method of any one of the above.

[0131] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or system that includes a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0132] The above-mentioned embodiment numbers of the present application are only for description, not representing the advantages and disadvantages of the embodiments.

[0133] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by software and necessary general hardware platform, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the methods described in various embodiments of the present application.

[0134] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, any equivalent structure or equivalent process transformation made by using the content of the specification and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application

[0135] According to the disclosure and teaching of the above description, those skilled in the art can also make changes and modifications to the above-mentioned embodiments. Therefore, the present application is not limited to the specific embodiments disclosed and described above, and some modifications and changes of the present application should also fall within the protection scope of the claims of the present application. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the present application.

Claims

1. A method of facade cleaning by a drone, characterized in that, The method comprises the following steps: receiving and executing a first flight instruction to fly to a target position of the facade to obtain first position information and second position information; transmitting the first position information and the second position information to a ground control station for the ground control station to generate route data according to the first position information and the second position information; receiving route data and cleaning execution instructions sent by the ground control station; executing flight according to the route data and executing the water spraying operation according to the cleaning execution instructions during flight.

2. The facade cleaning method of claim 1, wherein the first position information and the second position information are obtained by: when reaching the first position, receiving a first position confirmation instruction at the first time; intercepting positioning information of the first position at the first time to generate the first position information; when reaching the second position, receiving a second position confirmation instruction at the second time; intercepting positioning information of the second target position at the second time to generate the second position information.

3. The facade cleaning method of claim 2, wherein the first position confirmation instruction and the second position confirmation instruction are achieved by one of a positioning button of the ground control station, the UAV staying at the corresponding position for a preset time, or the UAV performing a confirmation action at the corresponding position.

4. The facade cleaning method of claim 1, wherein the method further comprises the following steps: obtaining a real-time distance between the UAV and the facade; determining whether the real-time distance is within a preset spraying distance range; if the real-time distance is outside the preset spraying distance range, outputting a second flight instruction for a UAV flight control execution mechanism to execute to adjust the actual distance between the UAV and the facade to within the preset spraying distance range.

5. The facade cleaning method of claim 4, wherein the real-time distance between the UAV and the facade is detected by a radar arranged on the UAV.

6. The facade cleaning method of claim 1, wherein after the step of receiving and executing a first control instruction to fly to a target position of the facade to obtain first position information and second position information, and before the step of executing flight according to the route data and executing the water spraying operation according to the cleaning execution instructions during flight, the method further comprises the following step: receiving a third flight instruction to fly to a third preset position to equip the cleaning device.

7. The facade cleaning method of claim 1, wherein the method further comprises the following steps: obtaining size information of a groove of the current facade; determining whether the size information of the groove meets a preset space range for UAV cleaning; if yes, outputting a fourth flight instruction to enter the groove to perform the operation; if no, not entering. The method comprises the following steps: a first receiving module for receiving and executing a first flight instruction to fly to a target position of the facade to obtain first position information and second position information; ​ ​ ​ ​ 8. A drone facade washing device, characterized in that, ​ ​ The sending module is configured to transmit the first position information and the second position information to a ground control station so that the ground control station generates flight path data according to the first position information and the second position information; The second receiving module is configured to receive flight path data and cleaning execution instructions sent by the ground control station; The execution module is configured to execute flight according to the flight path data and execute the water spraying operation according to the cleaning execution instructions during the flight.

9. A drone facade washing system, characterized in that, The cleaning system is configured to have: An unmanned aerial vehicle (10); A detection radar (20) arranged on the unmanned aerial vehicle (10) for detecting a facade; An RTK base station (30) in communication connection with the unmanned aerial vehicle (10) to provide positioning signals to the unmanned aerial vehicle (10); A cleaning device (40) arranged on the unmanned aerial vehicle (10) and in communication connection with the unmanned aerial vehicle (10) for performing cleaning work on the facade under control; A ground control station (50) in communication connection with the unmanned aerial vehicle (10) to realize interaction with the unmanned aerial vehicle (10); The unmanned aerial vehicle (10) is configured to have a processor, a memory, and a facade cleaning processing program stored on the memory and executable on the processor; and the facade cleaning processing program, when executed by the processor, realizes the steps of the facade cleaning method of the unmanned aerial vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium has a facade cleaning processing program stored thereon, and the facade cleaning processing program, when executed by the processor, realizes the steps of the facade cleaning method of the unmanned aerial vehicle according to any one of claims 1 to 7.

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