Intelligent unmanned aerial vehicle system

Abstract

The invention discloses an intelligent unmanned aerial vehicle system which comprises an unmanned aerial vehicle body and a sliding rail crane unit. The sliding rail crane unit is arranged on a roof or a specific floor and connected to the unmanned aerial vehicle body through a cable. The unmanned aerial vehicle body comprises a main cabin, a flight cabin and left and right propellers, the flight cabin is arranged on the back side of the main cabin, the left and right propellers are arranged on the left and right sides of the main cabin, and a cleaning device or a rescue device is detachably assembled on the front side of the main cabin; the sliding rail crane unit comprises a transverse sliding rail and a crane, the crane is slidably assembled on the transverse sliding rail, and the crane is connected to the unmanned aerial vehicle body through a cable and used for driving the unmanned aerial vehicle to ascend, descend and transversely move. According to the invention, the unmanned aerial vehicle main body is subjected to module optimization, so that the unmanned aerial vehicle main body can adapt to a high-rise building facade operation scene, the high-altitude risk of manual operation is avoided, and the unmanned aerial vehicle falling risk is eliminated; and switching use of cleaning and rescue is achieved, and the functional diversity and operation flexibility of the unmanned aerial vehicle system are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an intelligent unmanned aerial vehicle system. BACKGROUND

[0002] In modern cities, high-rise and super high-rise buildings are increasing, and the cleaning and maintenance of their glass curtain walls have become a necessary but high-risk and low-efficiency operation. Currently, two traditional methods are mainly relied on: one is the traditional manual rope operation, which is not only low in efficiency, but also has a very high safety risk and is greatly affected by the weather; the other is the track type high-rise window cleaning machine, which needs to install a fixed track on the building in advance, has high cost and poor flexibility, and cannot effectively deal with the facade with complex decorations, concave-convex structures or special inclination (such as inwardly inclined curtain wall), which still needs to send workers to the corresponding position by a basket for manual operation, and cannot fundamentally eliminate the safety risk.

[0003] In addition, with the continuous increase of building height, the challenge of emergency rescue (especially fire rescue) of high-rise buildings is becoming increasingly severe. The existing fire ladder trucks have limitations in height and response speed, and it is difficult for them to quickly reach the high-rise fire scene to implement effective rescue, often missing the best rescue opportunity.

[0004] The unmanned aerial vehicle technology provides a new idea for high-altitude operation due to its flexibility and efficiency. However, direct application of conventional unmanned aerial vehicles to high-rise curtain wall cleaning and emergency rescue faces many technical bottlenecks that are difficult to overcome, such as limited load capacity of conventional unmanned aerial vehicles, which makes it difficult to carry sufficient cleaning liquid or rescue equipment; and single function, which lacks modular design to cope with complex tasks (such as cleaning and rescue integration).

[0005] Therefore, there is an urgent need in the art for an intelligent high-altitude operation system integrating safety and multifunctionality to solve the above-mentioned long-standing technical problems. SUMMARY

[0006] The purpose of the present application is to provide an intelligent unmanned aerial vehicle system, which aims to solve the problem that the prior art intelligent high-altitude operation system cannot integrate safety and multifunctionality.

[0007] To solve the above technical problems, the purpose of the present application is achieved by the following technical scheme: an intelligent unmanned aerial vehicle system is provided, which is applied to the operation of high-rise facade scene, and includes an unmanned aerial vehicle main body and a slide rail and crane unit; the slide rail and crane unit is arranged on the roof or a specific floor and connected to the unmanned aerial vehicle main body by a cable; The unmanned aerial vehicle main body includes a main cabin, a flight cabin and left and right side propellers, the flight cabin is arranged on the back side of the main cabin, the left and right side propellers are arranged on the left and right sides of the main cabin, and the front side of the main cabin is detachably assembled with a cleaning device or a rescue device; The slide rail crane unit comprises a transverse slide rail and a crane, the crane is slidably assembled on the transverse slide rail, and the crane is connected to the unmanned aerial vehicle body through a cable and used to drive the unmanned aerial vehicle to ascend and descend and move laterally.

[0008] Further, a plurality of retractable supporting feet are arranged on the main cabin towards the front side, and the supporting feet are used to contact the facade of a high-rise building when the unmanned aerial vehicle body is used for facade work of the high-rise building.

[0009] Further, the unmanned aerial vehicle body and the crane are each provided with a plurality of cranes, and the plurality of cranes are installed side by side on the transverse slide rail.

[0010] Further, the intelligent unmanned aerial vehicle system further comprises: a positioning and navigation system, comprising an airborne RTK-GPS, a visual sensor, a laser range finder carried on the unmanned aerial vehicle body, and a super wideband positioning base station group arranged on the roof / indoor and ground; a cluster control platform, based on 5G / 5.5G network, realizing real-time task scheduling, path planning and state monitoring of the positioning and navigation system on the unmanned aerial vehicle body; an intelligent control station arranged on the roof or a specific floor, configured to control the crane to ascend and descend and move laterally the unmanned aerial vehicle body, and configured to control the flight attitude and work mode of the unmanned aerial vehicle body.

[0011] Further, the main cabin comprises a control host, a water tank and a water supply device, the water supply device is used to supply cleaning water to the cleaning device when the main cabin is assembled with the cleaning device.

[0012] Further, the front side of the main cabin is provided with a connecting bracket capable of retracting and extending towards the front side, and the cleaning device is assembled on the connecting bracket. The cleaning device comprises a device housing, a guide rail assembly, a cleaning assembly, a water storage tank and a first camera, one side of the device housing is mounted on the connecting bracket. The guide rail assembly is mounted on the other side of the device housing. The cleaning assembly is mounted on the guide rail assembly, and the guide rail assembly is configured to drive the cleaning assembly to move in the horizontal and vertical directions. The water storage tank is mounted at the bottom of the device housing and connected with the water supply device. The first camera is used to confirm the cleaning effect of the cleaning device.

[0013] Further, the guide rail assembly comprises vertical guide rails, transverse guide rails and mechanical arms; the vertical guide rails are fixedly arranged on the other side of the device housing; the transverse guide rails are slidably arranged on the vertical guide rails and are perpendicular to the vertical guide rails; and the mechanical arms are slidably arranged on the transverse guide rails. The cleaning assembly is arranged on the mechanical arm, and when the transverse guide rails move downward, the cleaning assembly is moved to the water pan.

[0014] Further, the vertical guide rails are provided with at least one, the transverse guide rails are provided with two and are arranged side by side on the vertical guide rails, and the mechanical arms comprise a first mechanical arm, a second mechanical arm and a third mechanical arm. The first mechanical arm is slidably arranged on the upper transverse guide rail of the two transverse guide rails, and the second mechanical arm and the third mechanical arm are slidably arranged on the lower transverse guide rail. The cleaning assembly comprises a water scraping strip, a wet wiping rotating brush and a wet wiping cloth, the water scraping strip is arranged on the first mechanical arm, and the wet wiping rotating brush and the wet wiping cloth are arranged on the second mechanical arm and the third mechanical arm respectively; when the lower transverse guide rail moves downward, the wet wiping rotating brush and the wet wiping cloth are moved to the water pan.

[0015] Further, the front side of the main cabin is provided with a connecting support capable of telescopic movement towards the front side, and the rescue device is arranged on the connecting support. The rescue device comprises a device frame and rescue tools. One side of the device frame is arranged on the connecting support. The rescue tools are detachably arranged on the other side of the device frame.

[0016] Further, the other side of the device frame is further provided with an intercom device and a second camera; and the rescue tools comprise at least one of a rescue seat, a fire extinguishing water tank, a fire extinguisher and a first aid kit.

[0017] The embodiment of the present application has the following beneficial effects: based on the current application scene, the unmanned aerial vehicle body is optimized in modules, so that the unmanned aerial vehicle body can adapt to the high-rise outer facade work scene, especially the special outer facade scene that cannot be reached by ordinary basket rope with large angle inward inclination, outward inclination, arc shape and special shape, completely avoiding the high-altitude risk of manual work and eliminating the risk of unmanned aerial vehicle falling; in addition, the switching use of cleaning and rescue is realized, and the functional diversity and operation flexibility of the unmanned aerial vehicle system are significantly improved.

[0018] Through the multi-machine parallel operation mode, the execution efficiency of the cleaning or rescue task can be greatly improved, and long-time uninterrupted work can be realized, and the efficiency is much higher than that of manual work.

[0019] Based on the high-power rotor in the flight cabin to provide lift and down pressure, and with the help of left and right side propellers to assist attitude adjustment and wind resistance, the unmanned aerial vehicle body can fly flexibly and closely and accurately adhere to the rescue operation point on the outer facade of high-rise building.

[0020] Based on the telescopic support feet and connecting brackets, real-time compensation of position deviation caused by wall surface inclination, unevenness and flight attitude change can be realized, so as to ensure that the cleaning device installed on the front part of the unmanned aerial vehicle can adhere to the curtain wall surface at an ideal angle and pressure, thereby improving the cleaning quality and operation stability. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 The principle structure schematic diagram of the intelligent unmanned aerial vehicle system provided by the embodiment of the present application.

[0023] Figure 2 The principle structure schematic diagram of the sliding rail hoist unit provided by the embodiment of the present application.

[0024] Figure 3 The top view of the unmanned aerial vehicle body (when the cleaning device is assembled) provided by the embodiment of the present application.

[0025] Figure 4 The perspective view structure schematic diagram of the unmanned aerial vehicle body (when the cleaning device is assembled) provided by the embodiment of the present application.

[0026] Figure 5 Another perspective view structure schematic diagram of the unmanned aerial vehicle body (when the cleaning device is assembled) provided by the embodiment of the present application.

[0027] Figure 6 The structure schematic diagram of the cleaning device provided by the embodiment of the present application.

[0028] Figure 7 The partial exploded structure schematic diagram of the unmanned aerial vehicle body provided by the embodiment of the present application.

[0029] Figure 8 The perspective view structure schematic diagram of the unmanned aerial vehicle body (when the rescue device is assembled) provided by the embodiment of the present application.

[0030] Figure 9 Another perspective view structure schematic diagram of the unmanned aerial vehicle body (when the rescue device is assembled) provided by the embodiment of the present application.

[0031] Identified in the figure: 1. UAV main body; 11. main cabin; 111. control host; 112. water tank; 113. water pump; 114. water delivery pipeline; 115. connecting bracket; 116. telescopic fine adjustment device; 117. supporting foot; 118. supporting leg; 12. flight cabin; 13. left and right side propellers; 14. cleaning device; 141. device shell; 142. vertical guide rail; 143. horizontal guide rail; 144. wiper strip; 145. wet wiping brush; 146. wet cloth; 147. water storage tank; 148. first camera; 15. rescue device; 151. device frame; 152. rescue required tool; 153. intercom equipment; 154. second camera; 2. slide rail crane unit; 21. horizontal slide rail; 22. crane; 221. jib; 222. counterweight; 223. hoist; 224. horizontal moving motor; 23. cable; 3. roof positioning base station; 4. ground positioning base station; 5. cluster control platform; 6. intelligent control station; 61. communication antenna. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0033] It should be understood that when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0034] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0035] It should be further understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0036] Referring to Figures 1 to 4 The embodiment of the present application provides a kind of intelligent unmanned plane system, it is applied to the operation of high-rise facade scene, including unmanned plane main body 1 and slide rail crane unit 2;Slide rail crane unit 2 is set on roof or specific floor and is connected to unmanned plane main body 1 by cable 23; Wherein, unmanned plane main body 1 includes main cabin 11, flight cabin 12 and left and right side propeller 13, flight cabin 12 is set on the back side of main cabin 11, left and right side propeller 13 is set on the left and right side of main cabin 11, and the front side of main cabin 11 is detachably assembled with cleaning device 14 or rescue device 15; Wherein, slide rail crane unit 2 includes horizontal slide rail 21 and crane 22, crane 22 is slidably assembled on horizontal slide rail 21, and crane 22 is connected to unmanned plane main body 1 by cable 23 and is used to drive unmanned plane to lift and move horizontally.

[0037] In the embodiment, in order to adapt the unmanned plane main body 1 to the application scene of the application, the unmanned plane main body 1 is optimized and designed. Specifically, because the lifting and left and right horizontal movement of the unmanned plane main body 1 has been realized by the crane 22 through the cable 23 connection control, the flight cabin 12 of the unmanned plane main body 1 is arranged on the back side of the main cabin 11 (i.e. the side away from the facade when the unmanned plane operates on the facade of the high-rise building), and a plurality of high-power rotors (such as four) are provided in the flight cabin 12 to provide lifting force (more importantly, to provide forward and backward horizontal moving force and backward oblique upward flight lifting force) and downward pressure (i.e. the pressure for pressing the unmanned plane main body 1 towards the facade); The left and right side propellers 13 (for example, two left and two right small power rotors) are symmetrically arranged on the left and right sides of the main cabin 11, for assisting attitude adjustment and wind resistance stability.

[0038] In the embodiment, in order to enable the slide rail crane unit 2 to drive the unmanned plane to lift and move horizontally on the facade, the slide rail crane unit 2 is installed on the roof or specific floor of the building, the crane 22 thereof is connected to the unmanned plane main body 1 through the cable 23, the crane 22 can move along the horizontal slide rail 21 and wind or unwind the cable 23, thereby driving the unmanned plane to lift and move horizontally, so that the unmanned plane can be accurately positioned to any operation point on the facade of the high-rise building, and the cable 23 provides physical traction and safety guarantee. The cable 23 adopts double-redundant hoisting cable, has very high safety and stability, even if one of the hoisting cables fails, the other hoisting cable can still ensure that the unmanned plane will not fall, and the operation safety is guaranteed; and the design of the double-redundant hoisting cable also enhances the load-carrying capacity (carrying large-capacity water tank 112) and wind resistance of the unmanned plane in complex environment, so that the unmanned plane can still stably hover at the operation point on the facade to operate in the face of strong wind and other bad weather.

[0039] In this embodiment, by means of the flight lift of the unmanned aerial vehicle body and the traction capacity of the cable, the complex outer facade such as inward inclination, outward inclination, arc shape, and special shape can be adapted, and the inward inclination and outward inclination angle can reach 40 degrees; thus, the cleaning device or the rescue device can be accurately applied to the target area.

[0040] In this embodiment, when the cleaning task needs to be performed, the cleaning device 14 can be assembled at the front side of the main cabin 11, and then the unmanned aerial vehicle body 1 is roughly positioned to the working point of the high-rise outer facade that needs to be cleaned by moving the cable 23 along the transverse slide rail 21 by the crane 22, and then the fine up-down and left-right positioning operation is performed by the telescopic fine adjustment device 116 and the left and right side propellers 13, so as to ensure that the positioning accuracy reaches the centimeter level. The lift and downward pressure are provided by the high-power rotor in the flight cabin 12, and the attitude adjustment and wind resistance are assisted by the left and right side propellers 13 and the telescopic fine adjustment device 116, so that the unmanned aerial vehicle body 1 is accurately attached and tightly adhered to the working point of the high-rise outer facade; at this time, the cleaning device 14 assembled at the front side of the main cabin 11 can perform the cleaning work; in this way, the cable 23 is assisted and the slide rail crane 22 is coordinated to move, so that the unmanned aerial vehicle falling risk is completely eliminated, and the high-risk manual operation is avoided.

[0041] In this embodiment, when the rescue task needs to be performed, the rescue device 15 (refer to Figure 8 ) can be assembled at the front side of the main cabin 11, and then the unmanned aerial vehicle body 1 is accurately positioned to the working point of the high-rise outer facade that needs to be rescued by moving the cable 23 along the transverse slide rail 21 by the crane 22. Then, the lift and downward pressure are provided by the high-power rotor in the flight cabin 12, and the attitude adjustment and wind resistance are assisted by the left and right side propellers 13, so that the unmanned aerial vehicle body 1 is tightly and accurately adhered to the rescue working point of the high-rise outer facade. At this time, the rescue device 15 assembled at the front side of the main cabin 11 can provide corresponding support for the rescue task.

[0042] Based on this, the unmanned aerial vehicle body 1 is optimized based on the current application scene in this embodiment, so that the unmanned aerial vehicle body 1 can adapt to the high-rise outer facade working scene, completely avoids the high-altitude risk of manual operation and eliminates the unmanned aerial vehicle falling risk; in addition, the cleaning and rescue switching use is also realized, which significantly improves the functional diversity and operation flexibility of the unmanned aerial vehicle system.

[0043] Further, as Figure 2As shown, the crane 22 includes a boom 221, a counterweight 222, a hoist 223 and a traverse motor 224, the bottom of the hoist 223 is mounted on the lateral slide rail 21 through a sliding block, the bottom of the hoist 223 is configured with the traverse motor 224 to drive the hoist 223 to slide on the lateral slide rail 21, the boom 221 is mounted on the top of the hoist 223, one end of the boom 221 leads out the cable 23, and the other end of the boom 221 is provided with the counterweight 222, and the cable 23 is connected to the hoist 223 to realize winding and unwinding.

[0044] Further, as shown in the drawings, Figure 4 As shown, the top of the main cabin 11 is provided with a telescopic fine adjustment device 116 at the connection position of the cable 23, and the telescopic fine adjustment device 116 can finely adjust the connection position of the unmanned aerial vehicle body 1 and the cable 23 according to actual operation requirements, so as to improve the positioning accuracy.

[0045] Further, the bottom of the main cabin 11 is also provided with a plurality of supporting legs 118 for placing and supporting the unmanned aerial vehicle body 1 when it is idle.

[0046] As shown in the drawings, Figures 2 to 4 In an embodiment, a plurality of telescopic supporting legs 117 are arranged on the main cabin 11 and face the front side; the supporting legs 117 are used to contact the facade of the high-rise building when the unmanned aerial vehicle body 1 is working on the facade of the high-rise building.

[0047] In this embodiment, a plurality of telescopic supporting legs 117 are arranged on the main cabin 11, the supporting legs 117 are made of lightweight and high-strength materials, are integrated with telescopic motors inside, and are provided with flexible anti-skid pads and pressure sensors at the ends. Preferably, four supporting legs 117 are arranged, and the supporting legs 117 are arranged at four corners of the main cabin 11 and extend towards the front side of the main cabin 11.

[0048] In this embodiment, when the unmanned aerial vehicle body 1 reaches the curtain wall working position, the four main propellers of the flight cabin 12 provide main thrust or lift to slowly approach the wall surface, and the left and right small propellers 13 and the telescopic fine adjustment device 116 finely adjust the position and attitude. At this time, the four supporting legs 117 are synchronously extended until they contact the surface of the curtain wall, and the unmanned aerial vehicle body 1 and the cleaning surface are kept at the best working distance and angle by adjusting the extension amounts of the different supporting legs 117; for example, when the curtain wall is decorated with protrusions or depressions or the surface is inclined, the supporting legs 117 will be correspondingly extended or retracted to compensate for the position deviation caused by the uneven surface; in this way, the position deviation caused by the inclination, unevenness and flight attitude change of the wall surface can be compensated in real time, so that the cleaning device 14 arranged on the front of the unmanned aerial vehicle can be attached to the surface of the curtain wall at the ideal angle and pressure, thereby improving the cleaning quality and operation stability.

[0049] Based on this, the active compensation mechanism of the telescopic support leg 117 enables the cleaning device 14 to adapt to various complex curtain wall surfaces, including different inclination angles, concave-convex decorations, and other special conditions, significantly improving the cleaning quality and operation stability; at the same time, this self-adaptive fitting capability greatly expands the application range of the system, enabling it to handle complex facade structures that traditional equipment cannot cope with.

[0050] In some embodiments, the support leg 117 can also cooperate with the connecting bracket 115 described below, and the support leg 117 can be used to keep the UAV main body 1 stable in the working position, and then the connecting bracket 115 can be used to adjust the cleaning angle of the cleaning device 14 to compensate for deviations such as curtain wall decoration protrusions or depressions or inclined surfaces.

[0051] In an embodiment, the UAV main body 1 and the crane 22 are each provided with multiple and one-to-one corresponding cranes 22, and the multiple cranes 22 are installed side by side on the transverse slide rail 21.

[0052] In this embodiment, in the cluster operation scenario, multiple UAV main bodies 1 and corresponding slide rail cranes 22 can be deployed, and each crane 22 is independently installed on the same transverse slide rail 21 and can move in parallel. Specifically, unified scheduling can be achieved through the cluster control platform 5, the building facade is divided into multiple grid areas, and each UAV main body 1 is assigned to a specific area. The sliding range of the crane 22 on the slide rail covers the entire roof width, so that the UAV main body 1 can cooperatively cover a large area of the facade, avoiding task overlap or omission. The position and state information of the UAV main bodies 1 are shared in real time, ensuring that the motion path is conflict-free.

[0053] Based on this, the multi-machine parallel operation mode of the present embodiment can greatly improve the execution efficiency of cleaning or rescue tasks, and can realize long-time uninterrupted work, with efficiency much higher than manual work.

[0054] In an embodiment, referring to Figure 1 The intelligent UAV system further includes: a positioning and navigation system, including an airborne RTK-GPS, a vision sensor, a laser range finder carried on the UAV main body 1, and an ultra-wideband (UWB) positioning base station group arranged on the roof / indoor and ground; a cluster control platform 5, which realizes real-time task scheduling, path planning, and state monitoring of the UAV main body 1 by the positioning and navigation system based on a 5G / 5.5G network; an intelligent control station 6, which is arranged on the roof or a specific floor and is configured to control the crane 22 to lift and move the UAV main body 1 horizontally, and is configured to control the flight attitude and operation mode of the UAV main body 1.

[0055] In this embodiment, the positioning and navigation system integrates multiple technologies in specific applications: airborne RTK-GPS, UWB ultra-wideband positioning, and visual sensors can provide outdoor centimeter-level positioning, visual sensors and laser rangefinders scan the surface of the curtain wall in real time and model it to assist in task execution (such as assisting positioning when performing cleaning tasks, checking the cleaning effect of the glass curtain wall, finding and positioning stubborn stains, etc.), and the ultra-wideband positioning base station group is arranged on the roof / indoor and ground (such as the diagonally distributed roof positioning base station 3 and ground positioning base station 4, which can cover signal blind areas). The cluster control platform 5 transmits data based on 5G / 5.5G, WIFI network, realizes real-time communication between the ground control center and the roof intelligent control station 6 (equipped with a communication antenna 61), and controls the lifting and transverse movement of the crane 22, while adjusting the flight attitude and operation mode of the unmanned aerial vehicle body 1.

[0056] Based on this, the embodiment ensures the precise operation of the unmanned aerial vehicle in a complex electromagnetic and wind field environment through high-precision positioning and real-time communication, avoids collision and deviation from the path, and greatly reduces the cost of manual intervention through intelligent management of the whole process. The system is intelligent, automated, safe, and highly efficient, and is suitable for various high-rise environments.

[0057] In combination with Figure 7 As shown in FIG. 1, in an embodiment, the main cabin 11 includes a control host 111, a water tank 112, and a water supply component for delivering cleaning water to the cleaning device 14 when the main cabin 11 is equipped with the cleaning device 14.

[0058] In this embodiment, the control host 111 is the original control center of the unmanned aerial vehicle body 1, and the control host 111 (including a communication module, a power supply module, etc.) is configured to receive and process data information from various sensors, generate corresponding control instructions according to preset programs and algorithms, and realize precise control of flight parameters such as flight attitude, flight speed, flight height, etc. of the unmanned aerial vehicle, and also can operate and control the cleaning device 14 or rescue device 15 carried, to ensure that the unmanned aerial vehicle can stably and efficiently perform various tasks according to the predetermined task planning.

[0059] In this embodiment, the main cabin 11 is integrated with a control host 111, a large-capacity water tank 112 for providing cleaning water, and a water supply device (including a water pump 113 and a water supply pipeline 114) for supplying cleaning water to the cleaning device 14. The control host 111 is the original control center of the unmanned aerial vehicle main body 1, which is responsible for processing sensor data and executing flight control algorithms; at the same time, it can also control the cleaning device 14 or the rescue device 15 carried, ensuring that the unmanned aerial vehicle can stably and efficiently perform various tasks according to the predetermined task planning. The water tank 112 is made of light and corrosion-resistant materials, and the capacity can be customized according to the task requirements; the water supply device is accurately controlled by an electric valve and a flow sensor to transport cleaning liquid, and when the cleaning device 14 is installed, the water supply device can supply water to the cleaning device 14 (i.e. the water storage tank 147 described below). The cleaning water can be a glass-specific cleaning liquid, of course, if the cleaning position is not glass but other surfaces, it can also be replaced with a cleaning liquid suitable for the surface according to the actual situation, such as a metal surface-specific cleaning liquid, a plastic surface-specific cleaning liquid, etc.

[0060] Based on this, the large-load water tank 112 and the electrically controlled water supply device of the present embodiment enable the unmanned aerial vehicle to work continuously for a long time without frequent return for supplies, significantly improving the cleaning efficiency; the modular design supports rapid switching between task modes, reflecting the advantages of functional diversity and high efficiency.

[0061] As Figures 2 to 6 , the following describes the operation embodiment of the main cabin 11 carrying the cleaning device 14.

[0062] In an embodiment, the front side of the main cabin 11 is provided with a connecting bracket 115 that can extend and retract towards the front side, and the cleaning device 14 is assembled on the connecting bracket 115; The cleaning device 14 comprises a device housing 141, a guide rail assembly, a cleaning assembly, and a water storage tank 147; One side of the device housing 141 is mounted on the connecting bracket 115; The guide rail assembly is mounted on the other side of the device housing 141; The cleaning assembly is mounted on the guide rail assembly, and the guide rail assembly is configured to drive the cleaning assembly to move in the horizontal and vertical directions; The water storage tank 147 is mounted at the bottom of the device housing 141 and connected with the water supply device.

[0063] In this embodiment, the connecting support 115 comprises a plurality of (preferably four) independently controlled electric telescopic supports. Preferably, one end of the four electric telescopic supports is fixed to the four corners of the front side panel of the main cabin 11 through a rigid interface, and the other end is connected to one side (i.e. the back) of the device housing 141 through, for example, a universal ball hinge. When the connecting support 115 is extended or retracted, it not only pushes the entire cleaning device 14 to move towards the front side of the curtain wall working surface, but also realizes multi-degree-of-freedom angle adjustment of the cleaning device 14 relative to the unmanned aerial vehicle body 1 through different telescopic combinations of the electric telescopic supports. When the working position is on an inclined or uneven curtain wall surface, the telescopic combination of the four telescopic supports is dynamically adjusted according to sensor feedback, so that the device housing 141 produces corresponding pitch, yaw or roll movements, thereby allowing the working surface of the cleaning device 14 to always be parallelly attached to the curtain wall surface. The cooperation of this universal connection and telescopic movement effectively compensates for the irregularity of the working surface and the slight changes in the flight attitude of the unmanned aerial vehicle. At the same time, the guide rail assembly installed on the device housing 141 drives the cleaning assembly to move accurately in the horizontal and vertical directions, realizing systematic wiping of a large cleaning surface; when it is necessary to replenish cleaning water, the guide rail assembly can drive the cleaning assembly to move downward as a whole, so that the cleaning assembly is lowered into the water storage tank 147 to complete automatic water absorption, and then returns to continue the cleaning work.

[0064] Based on this, the embodiment realizes self-adaptive angle adjustment of the cleaning device 14 relative to the curtain wall surface through the cooperative design of the plurality of telescopic supports and the universal connection, which not only significantly improves the cleaning effect, but also avoids damage to the curtain wall surface caused by an inappropriate angle; in combination with the moving cleaning and automatic water absorption functions driven by the guide rail assembly, a complete cleaning process is formed, which is efficient and intelligent.

[0065] In an embodiment, the guide rail assembly comprises a vertical guide rail 142, a horizontal guide rail 143 and a mechanical arm; the vertical guide rail 142 is fixedly assembled on the other side of the device housing 141; the horizontal guide rail 143 is slidingly assembled on the vertical guide rail 142 and perpendicular to the vertical guide rail 142, and the mechanical arm is slidingly assembled on the horizontal guide rail 143; the cleaning assembly is installed on the mechanical arm, and when the horizontal guide rail 143 moves downward, it can drive the cleaning assembly to move to the water storage tray.

[0066] In this embodiment, the vertical guide rail 142 provides a guide for vertical movement, the horizontal guide rail 143 can slide up and down along the vertical guide rail 142, and the horizontal guide rail 143 itself can also provide a guide for horizontal movement of the mechanical arm. The mechanical arm slides on the horizontal guide rail 143, can flexibly adjust its own position, and automatically rotates and stretches. Through the cooperation of the vertical guide rail 142, the horizontal guide rail 143 and the mechanical arm, the cleaning component mounted on the mechanical arm can be precisely moved up, down, left and right and rotated and stretched, can be lowered to the water pan to take water, and then moved up, down, left and right and rotated and stretched to cover the entire working area with the cleaning tool, perfectly simulating human manual wiping action, and realizing comprehensive cleaning.

[0067] This embodiment realizes high-precision positioning and complex path tracking of the cleaning tool through the multi-axis motion mechanism, greatly improves the cleaning quality and efficiency, and reduces the operation difficulty through automation, thereby embodying the advantages of intelligent automation and extremely high efficiency.

[0068] In an embodiment, the vertical guide rail 142 is provided with at least one, the horizontal guide rail 143 is provided with two and is installed side by side on the vertical guide rail 142, and the mechanical arm includes a first mechanical arm, a second mechanical arm and a third mechanical arm; the first mechanical arm is slidingly assembled on the upper horizontal guide rail 143 of the two horizontal guide rails 143, and the second mechanical arm and the third mechanical arm are slidingly assembled on the lower horizontal guide rail 143; the cleaning component includes a water scraping strip 144, a wet wiping rotary brush 145 and a wet wiping cloth 146, the water scraping strip 144 is installed on the first mechanical arm, and the wet wiping rotary brush 145 and the wet wiping cloth 146 are installed on the second mechanical arm and the third mechanical arm respectively; when the lower horizontal guide rail 143 moves longitudinally downward, the wet wiping rotary brush 145 and the wet wiping cloth 146 are driven to move to the water pan.

[0069] In this embodiment, the vertical guide rail 142 is provided with two and is installed on the surface of the shell at both side edges, the two ends of the two horizontal guide rails 143 are slidingly assembled on the two vertical guide rails 142, the upper horizontal guide rail 143 carries the first mechanical arm and is installed with the water scraping strip 144, and the lower horizontal guide rail 143 carries the second mechanical arm and the third mechanical arm and is installed with the wet wiping rotary brush 145 and the wet wiping cloth 146 respectively.

[0070] In the cleaning process of this embodiment, the lower horizontal guide rail 143 moves downward to drive the wet wiping rotary brush 145 and the wet wiping cloth 146 to absorb water in the water tank 147, then rises to wipe left and right with the wet wiping cloth 146, and finally the upper horizontal guide rail 143 drives the water scraping strip 144 to scrape the wiped sewage. Each mechanical arm of this embodiment is provided with a pressure sensor to adjust the wiping force in real time.

[0071] After the cleaning of the embodiment is completed, the effect of glass cleaning can be checked through a plurality of first cameras 148 arranged on the other side of the device shell 141, if stubborn stains are not cleaned, a fixed-point cleaning program is started, a wet wiping rotating brush 145 is used to rotate and wipe the stubborn stains, and then a wet cloth 146 is used to wipe left and right, and a water scraping strip 144 is used to scrape off the wiped water.

[0072] Based on this, the embodiment realizes a high-efficiency cleaning process of dry-wet combination and wiping before scraping through the cooperative work of a plurality of cleaning tools, ensures the cleanliness and no trace of the glass curtain wall, avoids surface damage through self-adaptive pressure control, and embodies the wide applicability and high efficiency of the system.

[0073] As Figure 8 and Figure 9 The following describes an operation embodiment when the main cabin 11 carries the rescue device 15.

[0074] In an embodiment, the front side of the main cabin 11 is provided with a connecting bracket 115 capable of telescopic movement towards the front side, and the rescue device 15 is assembled on the connecting bracket 115; The rescue device 15 includes a device frame 151 and rescue tools 152; One side of the device frame 151 is mounted on the connecting bracket 115; The rescue tools 152 are detachably mounted on the other side of the device frame 151.

[0075] In the embodiment, the rescue device 15 is quickly connected with the main cabin 11 through the same connecting bracket 115, the device frame 151 adopts a high-strength frame structure, protection brackets can be extended from both sides of the device frame 151, and a bottom plate can be extended from the bottom of the device frame 151; rescue tools such as a rescue seat, a fire extinguishing water tank 112, a fire extinguisher, and a first-aid kit can be carried on the device frame 151.

[0076] In the embodiment, the telescopic function of the connecting bracket 115 allows the rescue device 15 to adjust the position when close to the operation position, so as to facilitate personnel (such as personnel carried by the rescue seat) to enter and exit or to take materials. The whole replacement process can be completed within minutes without the need for special tools. Technical effect summary: the embodiment enables the system to quickly switch from a cleaning mode to a rescue mode through rapid modification design, provides key emergency capabilities for emergency situations such as high-rise fire, embodies the functions of diversity and high safety, and improves the practicability and response speed of the system through the modular architecture.

[0077] On the other side of the device frame body 151 of the embodiment, there is also a talkback device 153 and a second camera 154. The talkback device 153 facilitates real-time communication between rescue personnel and rescued personnel, timely transmission of information such as on-site conditions and rescue instructions, and improvement of the coordination and efficiency of rescue operations. The second camera 154 can monitor and record the rescue site in real time, providing intuitive image data for subsequent rescue analysis, accident investigation, etc., and also enabling external commanders to more clearly understand the on-site situation and make more accurate decisions.

[0078] Based on the intelligent unmanned aerial vehicle system introduced above, the specific work flow of the intelligent unmanned aerial vehicle system applied to cleaning tasks and rescue tasks is described below.

[0079] The embodiment of the application also provides a cleaning operation method of an intelligent unmanned aerial vehicle system, taking cleaning of a curtain wall surface as an example, comprising: Task planning step: receiving a digital model of a target building, grid partitioning the curtain wall surface to be cleaned, and assigning a cleaning task area to each unmanned aerial vehicle body 1; Takeoff preparation step: the unmanned aerial vehicle body 1 fills the cleaning liquid in the tank on the rooftop takeoff platform, performs self-checking, and after passing the self-checking, receives the flight path and operation instructions from the cluster control platform 5; Flight and positioning step: the unmanned aerial vehicle body 1 flies to the operation point along the planned path (this process is assisted by the lifting and traversing of the crane 22), and in this process, the data of the high-precision positioning and navigation system are fused to realize real-time positioning and dynamic obstacle avoidance; Curtain wall attachment step: after the unmanned aerial vehicle body 1 arrives at the operation point, the telescopic support feet 117 on the front side thereof are controlled to extend and contact the curtain wall surface, and the flight attitude and the telescopic connection bracket 115 are adjusted to make the cleaning device 14 stably adhere to the curtain wall; Cleaning step: the cleaning device 14 is started, and its guide rail assembly and cleaning assembly perform the conventional cleaning procedure of “wet cloth wiping 146 for brushing” and then “water scraping strip 144 for scraping off the dirty water”; Stain inspection step: whether there is a stubborn stain that has not been removed in the current cleaning area is checked by the perception first camera 148 integrated on the cleaning device 14; Point cleaning step: if the stubborn stain is identified, the position of the stain is located, and the point cleaning procedure is started to control the cleaning assembly to sequentially perform the intensive cleaning process of “wet brush 145 for key brushing”, “wet cloth wiping 146”, and “dry scraping 144”; Task advancing step: after the current area cleaning is up to the standard, whether all the tasks are completed is judged; if not, the unmanned aerial vehicle body 1 is controlled to go to the next grid area, and the curtain wall attachment step to the stain inspection step are repeatedly executed; Task end step: when all cleaning tasks are completed, the unmanned aerial vehicle body 1 returns to the designated position on the roof.

[0080] Based on this, the method of the application constructs a complete, closed-loop and highly intelligent cleaning operation process. Through macro task planning, precise flight positioning, micro curtain adhesion, and the combination of regular and fixed-point cleaning, efficient and thorough cleaning of large-area curtain walls without dead angles is achieved. The method fully utilizes the advantages of the system device, integrates the high efficiency brought by grid partition and multi-machine cooperation, the wide applicability brought by adaptive fitting and multi-mode cleaning, and the automation and intelligent judgment of the whole process, and significantly improves the cleaning quality and the intelligent level of operation.

[0081] The embodiment of the application also provides a rescue operation method of an intelligent unmanned aerial vehicle system, taking a rescue seat as an example, comprising: Emergency start step: an operator starts an emergency rescue mode in the control center, and the system receives an emergency instruction containing rescue position coordinates; Autonomous flight step: the unmanned aerial vehicle carries the rescue seat, and automatically flies to the specified rescue position based on the received rescue coordinates through the high-precision positioning and navigation system (this process is assisted by the lifting and transverse movement of the crane 22); Personnel arrangement step: after arriving at the rescue position, the operator remotely guides the trapped personnel to enter the rescue seat and correctly buckle the safety lock buckle through the intercom equipment 153 and the second camera 154 beside the rescue seat; Safe rescue step: after confirming the safety of the personnel, the unmanned aerial vehicle executes a slow descent flight program under the double protection of the flight control power and the roof slide rail crane 22 safety cable 23, and safely transports the trapped personnel to the ground safety area; Task completion step: after confirming the safety of the personnel landing, the unmanned aerial vehicle returns to the designated standby position and completes the rescue task; The emergency rescue operation method further comprises an emergency material delivery mode, when the rescue seat is configured as a material delivery, the unmanned aerial vehicle automatically flies to the specified window position, and air drops fire extinguishers, first aid kits or slow descent device emergency materials, and can also perform water spraying for fire extinguishing.

[0082] Based on this, the method of the application constructs a complete high-rise emergency rescue process. Through the autonomous flight and precise positioning of the unmanned aerial vehicle, the quick response to the trapped personnel in the complex high-rise environment is realized; through the remote audio and video guidance and safety lock buckle design, the safety and reliability of the rescue process are ensured; the double safety protection mechanism completely eliminates the risk of high-altitude falling. The method fully embodies the two core advantages of strong safety and diversified functions of the system, closely combines the unmanned aerial vehicle technology with emergency rescue, provides an innovative technical solution for high-rise emergency scenes, and significantly improves the high-rise safety operation ability.

[0083] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An intelligent unmanned aerial vehicle (UAV) system for operation on the exterior facades of high-rise buildings, characterized in that: include: The main body of the drone; A rail-mounted crane unit is installed on a rooftop or a specific floor and connected to the main body of the drone via cables; The main body of the drone includes a main cabin, a flight cabin, and left and right propellers. The flight cabin is located on the back side of the main cabin, and the left and right propellers are located on the left and right sides of the main cabin. A cleaning device or a rescue device is detachably mounted on the front side of the main cabin. The sliding rail crane unit includes a transverse sliding rail and a crane. The crane is slidably mounted on the transverse sliding rail and is connected to the main body of the UAV via a cable and is used to drive the UAV to lift, move horizontally, and move in the direction of movement.

2. The intelligent unmanned aerial vehicle system according to claim 1, characterized in that, The main cabin is equipped with multiple retractable support legs facing forward; the support legs are used to contact the exterior of the building when the main body of the drone is operating on the exterior of the building.

3. The intelligent unmanned aerial vehicle system according to claim 1, characterized in that, The main body of the drone and the crane are each equipped with multiple cranes, which are installed side by side on the transverse slide rail.

4. The intelligent unmanned aerial vehicle system according to claim 3, characterized in that, Also includes: The positioning and navigation system includes an airborne RTK-GPS, a visual sensor, and a laser rangefinder mounted on the main body of the UAV, as well as an ultra-wideband positioning base station cluster deployed on rooftops / indoors and on the ground; The cluster control platform, based on a 5G / 5.5G network, enables the positioning and navigation system to perform real-time task scheduling, path planning, and status monitoring of the UAV. The intelligent control station, located on the rooftop or a specific floor, is configured to control the crane to lift and move the UAV body horizontally, and to control the flight attitude and operating mode of the UAV body.

5. The intelligent unmanned aerial vehicle system according to claim 1, characterized in that, The main cabin includes a control unit, a water tank, and a water supply system. The water supply system is used to supply water to the cleaning device when the main cabin is equipped with a cleaning device. Cleaning water .

6. The intelligent unmanned aerial vehicle system according to claim 5, characterized in that, The front side of the main cabin is provided with a connecting bracket that can retract and move forward, and the cleaning device is mounted on the connecting bracket; The cleaning device includes: a device housing, a guide rail assembly, a cleaning assembly, a water tank, and a first camera; One side of the device housing is mounted on the connecting bracket; The guide rail assembly is mounted on the other side of the device housing; The cleaning component is mounted on the guide rail assembly, and the guide rail assembly is configured to drive the cleaning component to move in the horizontal and vertical directions. The water storage tank is installed at the bottom of the device housing and is connected to the water supply component; The first camera is used to confirm the cleaning effect of the cleaning device.

7. The intelligent unmanned aerial vehicle system according to claim 6, characterized in that, The guide rail assembly includes a vertical guide rail, a horizontal guide rail, and a robotic arm; the vertical guide rail is fixedly mounted on the other side of the device housing; the horizontal guide rail is slidably mounted on the vertical guide rail and is perpendicular to the vertical guide rail; the robotic arm is slidably mounted on the horizontal guide rail. The cleaning component is mounted on the robotic arm. When the horizontal guide rail moves vertically downward, it can move the cleaning component to the water storage tray.

8. The intelligent unmanned aerial vehicle system according to claim 7, characterized in that, The vertical guide rail is provided at least one, and the horizontal guide rail is provided two and installed side by side on the vertical guide rail. The robotic arm includes a first robotic arm, a second robotic arm and a third robotic arm. The first robotic arm is slidably mounted on the upper horizontal guide rail of the two horizontal guide rails, and the second and third robotic arms are slidably mounted on the lower horizontal guide rail. The cleaning assembly includes a squeegee, a wet scrubbing brush, and a wet cloth wiper. The squeegee is mounted on the first robotic arm, and the wet scrubbing brush and wet cloth wiper are mounted on the second and third robotic arms, respectively. When the horizontal guide rail located below moves vertically downward, it can drive the wet scrubbing brush and wet cloth wiper to move to the water storage tray.

9. The intelligent unmanned aerial vehicle system according to claim 1, characterized in that, The front side of the main cabin is provided with a connecting bracket that can extend and retract towards the front, and the rescue device is mounted on the connecting bracket; The rescue device includes a device frame and rescue equipment; One side of the device frame is mounted on the connecting bracket; The rescue equipment is detachably mounted on the other side of the device frame.

10. The intelligent unmanned aerial vehicle system according to claim 9, characterized in that, The other side of the device frame is also equipped with an intercom device and a second camera; The rescue equipment includes at least one of the following: rescue seating, fire extinguishing water tank, fire extinguisher, and first aid kit.

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