An unmanned vehicle garage and unmanned vehicle garage automatic cleaning method

Abstract

This invention discloses a drone hangar and an automatic cleaning method for drone hangars, comprising: a hangar body, a landing pad, a cleaning device, and a hangar control host; the hangar body has a storage cavity inside; the landing pad is located on the hangar body and above the storage cavity, and its surface has a QR code area for visual landing recognition by drones; the cleaning device has a first position and a second position. When the cleaning device is in the first position, it is retracted below the landing pad; when it is in the second position, it extends outward from the landing pad and cleans the QR code area; the hangar control host controls the cleaning device to switch between the first and second positions and controls the cleaning action. This invention achieves active cleaning of the QR code area through an automatic cleaning device, completely solving the problem of decreased visual recognition accuracy caused by pollutants such as sand and fallen leaves obscuring the QR code, and improving the success rate of drone landing.

Description

Technical Field

[0001] This invention relates to the field of drone hangar cleaning technology, specifically to a drone hangar and an automatic cleaning method for drone hangars. Background Technology

[0002] With the rapid development of the low-altitude economy, application scenarios such as drone inspection and drone logistics continue to expand, and the combination of drones and unmanned hangars has become the mainstream application solution in the industry. Currently, most drone hangars use visual recognition of QR codes to achieve precise drone landing.

[0003] However, drone hangars are typically deployed in unattended environments such as the wilderness. Over long-term operation, the QR codes on the hangars can become covered by dust, fallen leaves, and other pollutants, directly affecting the visual recognition accuracy of the drones. This can lead to drones failing to land accurately or even landing in vain, impacting the continuity of drone operations. Current technology primarily relies on manual cleaning of the hangars periodically. This method is not only costly and inefficient, but also poses significant safety risks for hangars located in remote or mountainous areas where they are difficult to access. Summary of the Invention

[0004] In view of this, the present invention provides a drone hangar and an automatic cleaning method for drone hangars, in order to solve the problem that the QR codes on the drone hangar apron mainly rely on manual cleaning on a regular basis, resulting in high maintenance costs and low efficiency.

[0005] In a first aspect, the present invention provides a drone storage facility, comprising: The hangar body has a storage cavity inside. The helipad is located on the hangar body and above the storage cavity. The surface of the helipad is provided with a QR code area for visual landing recognition of drones. A cleaning device has a first position and a second position. When the cleaning device is in the first position, it is housed below the helipad. When the cleaning device is in the second position, it extends outward from the helipad and cleans the QR code area. The hangar control host has its output connected to the controlled end of the cleaning device. The hangar control host is used to control the cleaning device to switch between a first position and a second position and to control the cleaning device to perform cleaning actions.

[0006] The beneficial effects of the above technical solution are as follows: the automatic cleaning device can achieve active cleaning of the QR code area, which can completely solve the problem of reduced visual recognition accuracy caused by pollutants such as sand and fallen leaves obscuring the QR code. This can improve the success rate of drone landing, avoid losses such as drone damage and interruption of operation caused by landing failure, and ensure the continuity of drone operation.

[0007] The aforementioned drone hangars reduce the number of on-site maintenance operations, allowing cleaning to be completed without the need for personnel. They are particularly suitable for hangars deployed in remote mountainous areas, border regions, high-altitude areas, deserts, and other areas where it is difficult for humans to reach. They eliminate the safety risks associated with manual outdoor maintenance, such as high altitudes and complex terrain, and reduce the number and difficulty of manual maintenance, saving maintenance time and costs. This is especially true for hangars deployed in remote areas or mountains, which reduce the level of danger.

[0008] Cleaning the QR code area and the hangar itself improves the success rate of visually accurate landings, ensures the reliability of the drone hangar, and extends its service life. The cleaning device adopts a structural design that allows it to be stored in a cavity below the helipad. This avoids the problem of the cleaning device occupying helipad operating space and interfering with the normal take-off and landing of drones when not in a clean state. It also prevents the cleaning device from being corroded by long-term exposure to outdoor wind, sand, rain, and snow, thus extending its service life. At the same time, it eliminates the safety hazard of the external cleaning device colliding with the landing drone.

[0009] The hangar control host can directly connect to the existing drone hangar remote management platform, supporting multiple cleaning trigger modes such as timed triggering, AI pollution recognition automatic triggering, and remote one-click triggering. It can complete the entire cleaning process without manual intervention, and is fully compatible with the current fully unmanned operation and maintenance system of drone hangars, providing basic support for the normalized and large-scale operation of low-altitude economic drones.

[0010] In one optional embodiment, the cleaning device includes: A water spray gun structure, wherein the water spray gun structure is used to spray cleaning water; A rotating mechanism is provided below the water spray gun structure to drive the water spray gun structure to rotate. A lifting mechanism is provided below the rotating mechanism and is used to drive the rotating mechanism and the water spray gun structure to move up and down. A water supply mechanism, which is connected to a water spray gun structure, is used to supply cleaning water to the water spray gun structure.

[0011] The beneficial effects of the above technical solution are as follows: The cleaning device, through the coordinated action of a rotating and lifting mechanism combined with a high-pressure water supply system, can achieve comprehensive, thorough cleaning of the drone hangar's landing pad and surrounding area. This effectively removes dust, oil, residual mud and sand from flight operations, ensuring a smooth and clean landing pad surface and preventing debris accumulation from affecting the normal take-off, landing, and safe parking of drones. The automated cleaning process requires no manual intervention, significantly reducing labor costs. Furthermore, parameters such as cleaning time and lifting stroke can be precisely set, ensuring cleaning effectiveness while avoiding unnecessary water waste. The real-time reporting function of the remaining water in the storage tank allows the remote management platform to promptly monitor the water source status, ensuring the continuous and stable operation of the cleaning task. After cleaning, the device automatically retracts into the storage chamber, not occupying effective landing pad space, maintaining a clean and orderly hangar environment, and further improving the intelligent management level and ease of use of the drone hangar.

[0012] In one optional embodiment, the water spray gun structure is rotatably mounted on a connecting seat via a rotating shaft. The connecting seat is connected to the output end of a rotating mechanism. The rotating shaft is connected to a pitch adjustment mechanism, which allows for flexible adjustment of the water spray gun structure in the pitch direction. Combined with the horizontal rotation of the rotating mechanism, this enables the water spray gun to cover areas at different angles on the apron surface, further enhancing the all-around, no-dead-angle cleaning effect. Simultaneously, by precisely controlling the pitch and yaw angles, targeted rinsing can be performed on different contaminated areas, improving the targeting and efficiency of the cleaning. While ensuring cleaning quality, this further optimizes the rational use of water resources, helping the cleaning device achieve more intelligent and efficient cleaning operations; and / or The rotating mechanism includes a hollow rotating shaft, a rotating motor, and a fixed hollow shaft. The hollow rotating shaft is connected to the water spray gun structure. The output end of the rotating motor is connected to the hollow rotating shaft. The fixed hollow shaft is coaxially and sealed to the hollow rotating shaft for rotation. The water supply mechanism is connected to the fixed hollow shaft through a water supply pipe.

[0013] The beneficial effects of the above technical solution are as follows: the rotating mechanism enables the water spray gun to rotate 180° in all directions, effectively expanding the cleaning coverage area and avoiding the problem of inadequate local cleaning; at the same time, the coaxial sealed rotating connection structure between the hollow rotating shaft and the fixed hollow shaft maintains the continuity and stability of water supply while ensuring smooth rotation, so that the water spray gun always maintains sufficient and stable water pressure, thereby improving cleaning efficiency and cleanliness.

[0014] In one optional implementation, the hangar body is equipped with an environmental sensing module, which is communicatively connected to the hangar control host. The environmental sensing module includes one or more of a temperature and humidity sensor, a wind speed sensor, a rainfall sensor, and a liquid level sensor. The temperature and humidity sensor collects real-time temperature and humidity data of the hangar's interior and surrounding environment. When the temperature exceeds the suitable range for drone storage or the humidity exceeds a set threshold, the hangar control host activates the temperature and humidity control system to maintain a stable environment inside the hangar through heating, cooling, or dehumidification equipment. The wind speed sensor monitors the real-time wind speed outside the hangar. If the wind speed exceeds the safe take-off and landing threshold for the drone, the hangar control host will issue an alarm and prohibit the drone from performing take-off and landing operations. The rainfall sensor detects rainfall. When the rainfall reaches a set value, the hangar control host closes the hangar's entrance and exit doors to prevent rainwater from entering the hangar. The liquid level sensor monitors the water level in the cleaning system's water tank. When the water level falls below a preset lower limit, the hangar control host triggers a water replenishment mechanism to ensure the cleaning system is ready for use at any time; and / or The helipad is equipped with a drainage system; and / or The cleaning device is equipped with a drying device, the controlled end of which is connected to the output end of the hangar control host. The drying device is used to dry the cleaned QR code area; and / or The cleaning device communicates with the hangar control host via RS485.

[0015] In one optional implementation, the hangar body is equipped with an image acquisition and AI analysis unit, which is connected to the hangar control host. The image acquisition and AI analysis unit is used to acquire images of the apron surface and identify the location, area, and type of contamination in contaminated areas. The image acquisition and AI analysis unit includes: The image acquisition module is used to acquire raw images of the helipad and QR code area; The image preprocessing module is used to preprocess the original image; The identification area positioning module is used to locate the QR code area and expand it outward to a preset range as the key detection area; The pollution segmentation module is used to perform pixel-level semantic segmentation on key detection areas and extract the contours of all polluted areas. The pixel-level semantic segmentation uses a lightweight semantic segmentation network to classify each pixel into one of the following categories: background, dust pollution, oil pollution, bird droppings pollution, fallen leaf pollution, and stagnant water pollution. The geometric parameter calculation module is used to calculate the center coordinates and actual area of ​​each contaminated area; The pollution classification and assessment module is used to classify the type and assess the degree of pollution for each polluted area; the hangar control host adaptively generates corresponding cleaning strategies based on the type and degree of pollution of each polluted area and controls the cleaning device to perform precise zone cleaning; the cleaning strategy includes cleaning area and / or water pressure and / or rotation angle and / or rotation speed and / or cleaning duration. The cleanliness assessment module is used to acquire images of the apron and QR code area again after cleaning, compare them with standard clean images, and determine whether the contaminated area is cleaned properly. When it is determined that the cleaning is not up to standard and the number of cleaning attempts has not reached the preset maximum number, a re-cleaning command is output to the hangar control host. When it is determined that the cleaning is up to standard or the preset maximum number of cleaning attempts has been reached, a cleaning end command is output to the hangar control host.

[0016] The beneficial effects of the above technical solution are as follows: The application of the image acquisition and AI analysis unit significantly improves the intelligent cleaning level and operation and maintenance efficiency of the drone hangar helipad. On the one hand, by accurately identifying the location, area, and type of contaminated areas and combining this with cleaning priority sorting, precise zoned cleaning is achieved, avoiding the waste of water resources and time caused by indiscriminate washing of the entire helipad in traditional cleaning methods, resulting in a significant improvement in cleaning efficiency compared to conventional methods. On the other hand, the cleaning parameters dynamically adjusted based on the degree of contamination and material characteristics effectively remove various pollutants such as sand, oil, and bird droppings while effectively protecting the coating and structural integrity of the helipad surface, reducing the risk of equipment damage caused by cleaning operations. In addition, the closed-loop judgment mechanism for cleanliness ensures that the cleaning effect meets the standards, avoiding the impact of residual contamination on the accuracy of QR code recognition or docking stability during drone take-off and landing, providing a reliable environmental guarantee for the daily operation and safe operation of drones, and further strengthening the automated and intelligent operation and maintenance capabilities of the drone hangar.

[0017] Secondly, the present invention provides an automatic cleaning method for unmanned aerial vehicle (UAV) hangars, comprising the following steps: S1. Obtain the cleaning trigger command, verify that the current drone hangar is in idle mode, and then start the cleaning process; S2. The cleaning device is moved to the second position and the QR code area is cleaned by controlling the main unit of the hangar. S3. After cleaning is completed, the cleaning device is moved to the first position by controlling the main control unit of the hangar.

[0018] In one optional implementation, in step S1, the cleaning triggering command includes a manually triggered automatic cleaning command and / or a timed automatic cleaning command and / or an automatic cleaning command triggered by the image acquisition and AI analysis unit; and / or In step S2, the step of controlling the cleaning device to move to the second position and cleaning the QR code area via the hangar control host specifically includes the following steps: according to the preset QR code area information, the cleaning device is moved to the second position by the lifting mechanism, and the pitch angle of the water spray gun structure is adjusted so that the water spray gun structure is aligned with the QR code area; water is supplied to the water spray gun structure by the water supply mechanism, and the water spray gun structure is rotated by the rotation mechanism to clean the QR code area.

[0019] In an optional implementation, in step S1, after the obtained cleaning trigger instruction is an automatic cleaning instruction triggered by the image acquisition and AI analysis unit, the image acquisition and AI analysis unit acquires a panoramic image of the apron surface, identifies the polluted areas in the QR code area and surrounding areas, and determines the coordinates, area, and pollution type of the polluted areas. Specifically, this includes the following steps: acquiring the original images of the apron and QR code areas; preprocessing the original images; locating the QR code area and expanding it outwards within a preset range as a key detection area; performing pixel-level semantic segmentation on the key detection area to extract the contours of all polluted areas; the pixel-level semantic segmentation uses a lightweight semantic segmentation network to classify each pixel into one of the following categories: background, dust pollution, oil pollution, bird droppings pollution, fallen leaf pollution, and stagnant water pollution; calculating the center coordinates and actual area of ​​each polluted area; and classifying and assessing the pollution level of each polluted area. Based on the type and degree of pollution of each area, a corresponding cleaning strategy is adaptively generated and the cleaning device is controlled to perform precise cleaning in each zone; the cleaning strategy includes the cleaning area and / or water pressure and / or rotation angle and / or rotation speed and / or cleaning duration.

[0020] In one optional implementation, in step S3, after cleaning is completed, the image of the apron and QR code area is acquired again and compared with the standard cleaning image to determine whether the contaminated area is cleaned properly; when it is determined that the cleaning is not qualified and the number of cleaning times has not reached the preset maximum number, a re-cleaning command is output to the hangar control host; when it is determined that the cleaning is qualified or the preset maximum number of cleaning times has been reached, a cleaning end command is output to the hangar control host.

[0021] The beneficial effects of the above technical solution are as follows: The closed-loop cleaning quality detection and re-cleaning mechanism can effectively avoid the problem of residual contaminants on the helipad affecting the take-off and landing accuracy of drones or the success rate of QR code recognition due to incomplete cleaning in a single cycle, ensuring that the helipad is always in a standard clean state and improving the reliability and safety of automated operation and maintenance of the drone hangar. At the same time, by limiting the maximum number of cleanings, problems such as water waste and accelerated wear and tear on cleaning equipment caused by over-cleaning can be avoided, achieving an optimal balance between cleaning effect and resource cost, and further enhancing the economic efficiency of the overall drone hangar system.

[0022] In one optional implementation, the remaining water volume of the water supply mechanism is collected in real time during the cleaning process. If the remaining water volume is lower than a preset threshold, the cleaning process is terminated in advance and a water shortage alarm is reported.

[0023] The beneficial effects of the above technical solution are: it can effectively avoid the problem of incomplete cleaning caused by sudden water supply interruption, prevent residual pollutants on the helipad from affecting the take-off and landing accuracy of drones or the success rate of QR code recognition; at the same time, it can avoid the cleaning device running idle in the absence of water, reduce unnecessary equipment wear and tear, and further improve the operation and maintenance stability and resource utilization efficiency of the drone hangar system. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of a drone hangar provided by the present invention; Figure 2 This is a schematic diagram of the structure of a cleaning device in a drone hangar provided by the present invention; Figure 3 A bottom view of a drone hangar provided by the present invention; Figure 4 A top view of a drone hangar provided by the present invention; Figure 5 A simplified structural diagram of a cleaning device for a drone hangar provided by the present invention; Figure 6 This invention provides a flowchart of an automated cleaning process for a drone hangar.

[0026] Explanation of reference numerals in the attached figures: 1. Hangar body; 11. Cabin door; 2. Helipad; 21. QR code area; 22. Drainage hole; 3. Cleaning device, 31. Water spray gun structure, 311. Water spray gun, 32. Rotation mechanism, 321. Hollow rotating shaft, 322. Rotary motor, 323. Fixed hollow shaft, 324. Motor mounting base, 325. Connecting piece, 326. Cover, 327. Spring, 33. Lifting mechanism, 34. Pitch adjustment mechanism, 341. Connecting base, 342. Rotating shaft, 35. Water supply pipe. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] With the rapid development of the low-altitude economy, application scenarios such as drone inspection and drone logistics continue to expand, and the combination of drones and unmanned hangars has become the mainstream application solution in the industry. Currently, most drone hangars use visual recognition of QR codes to achieve precise drone landing.

[0029] However, drone hangars are typically deployed in unattended environments such as the wilderness. Over long-term operation, the QR codes on the hangars can become covered by dust, fallen leaves, and other pollutants, directly affecting the visual recognition accuracy of the drones. This can lead to drones failing to land accurately or even landing in vain, impacting the continuity of drone operations. Current technology primarily relies on manual cleaning of the hangars periodically. This method is not only costly and inefficient, but also poses significant safety risks for hangars located in remote or mountainous areas where they are difficult to access.

[0030] Based on this, the present invention provides a drone hangar and an automatic cleaning method for drone hangars. The automatic cleaning device achieves active cleaning of the QR code area, which completely solves the problem of decreased visual recognition accuracy caused by pollutants such as sand and fallen leaves obscuring the QR code. It can improve the success rate of drone landing, avoid losses such as drone damage and interruption of operation caused by landing failure, and ensure the continuity of drone operation.

[0031] Reference Figures 1 to 6 The specific embodiments of the present invention will now be described in detail with reference to the drone library of the first aspect of the present invention.

[0032] It should be noted that the drone storage of the first aspect of the present invention is only a preferred embodiment of the present invention. The drone storage of the present invention can adopt the drone storage of the first aspect of the present invention or other structures. For ease of explanation, the drone storage of the first aspect of the present invention will be used as an example for the following description.

[0033] According to an embodiment of the present invention, in a first aspect, an unmanned aerial vehicle (UAV) hangar is provided, comprising: a hangar body 1, a parking apron 2, a cleaning device 3, and a hangar control host.

[0034] The hangar body 1 has a storage cavity inside, which is used to store the cleaning device 3. When not in use, the cleaning device 3 can be stored inside the storage cavity without occupying the space of the apron 2.

[0035] The helipad 2 is located on the hangar body 1 and above the storage cavity. The surface of the helipad 2 is provided with a QR code area 21 for visual landing recognition of drones.

[0036] The cleaning device 3 has a first position and a second position. When the cleaning device 3 is in the first position, it is stored under the apron 2. When the cleaning device 3 is in the second position, it extends outward from the apron 2 and cleans the QR code area 21.

[0037] The output of the hangar control host is connected to the controlled end of the cleaning device 3. The hangar control host is used to control the cleaning device 3 to switch between the first position and the second position and to control the cleaning device 3 to perform cleaning actions.

[0038] The aforementioned drone hangar uses an automatic cleaning device 3 to actively clean the QR code area, completely solving the problem of decreased visual recognition accuracy caused by pollutants such as sand and fallen leaves obscuring the QR codes. This can improve the success rate of drone landing, avoid losses such as drone damage and interruption of operation due to landing failure, and ensure the continuity of drone operations.

[0039] The aforementioned drone hangars significantly reduce the frequency of on-site maintenance, allowing cleaning operations to be completed without the need for personnel. They are particularly suitable for hangars deployed in remote mountainous areas, border regions, high-altitude areas, deserts, and other areas difficult for humans to access, while also eliminating the safety risks associated with manual outdoor maintenance at high altitudes and in complex terrains. This reduces the frequency and difficulty of manual maintenance, saving time and costs, and significantly lowers the risk level, especially for hangars deployed in remote areas or in mountainous regions.

[0040] Cleaning the surface of the QR code area 21 and the hangar itself improves the success rate of visually accurate drone landing, ensures the reliability of the drone hangar, and extends the hangar's service life. The cleaning device 3 adopts a structural design that allows it to be stored in a cavity below the helipad 2. This avoids the problem of the cleaning device 3 occupying the working space of the helipad 2 and interfering with the normal take-off and landing of drones when not in a clean state. It also prevents the cleaning device 3 from being corroded by long-term exposure to outdoor wind, sand, rain, and snow, thus extending the service life of the cleaning device 3. At the same time, it eliminates the safety hazard of the external cleaning device colliding with the landed drone.

[0041] The hangar control host can directly connect to the existing drone hangar remote management platform, supporting multiple cleaning trigger modes such as timed triggering, AI pollution recognition automatic triggering, and remote one-click triggering. It can complete the entire cleaning process without manual intervention, and is fully compatible with the current fully unmanned operation and maintenance system of drone hangars, providing basic support for the normalized and large-scale operation of low-altitude economic drones.

[0042] Reference Figure 2In some embodiments, the cleaning device 3 includes: a water spray gun structure 31, a rotating mechanism 32, a lifting mechanism 33, and a water supply mechanism. The water spray gun structure 31 sprays cleaning water. The rotating mechanism 32 is located below the water spray gun structure 31 and drives the water spray gun structure 31 to rotate. The lifting mechanism 33 is located below the rotating mechanism 32 and drives the rotating mechanism 32 and the water spray gun structure 31 to move up and down. The water supply mechanism is connected to the water spray gun structure 31 and supplies cleaning water to the water spray gun structure 31.

[0043] The water spray gun structure 31 includes a water spray gun 311, which can be either a fan-shaped or a cone-shaped water spray gun, and can be replaced according to actual needs. The replaceable water spray gun structure can be flexibly adjusted according to actual cleaning needs. The fan-shaped water spray gun is suitable for large-area rapid cleaning, while the cone-shaped water spray gun can be used for concentrated high-pressure rinsing of stubborn stains, improving the flexibility and targeting of cleaning.

[0044] The lifting mechanism 33 includes a pneumatic cylinder, a hydraulic cylinder, an electric push rod, or a lifting column, and may also be other structures that can be telescopic.

[0045] The water supply mechanism includes a high-pressure water pump and a water storage tank. The high-pressure water pump is installed inside the water storage tank and is connected to a water supply pipe 35. The other end of the water supply pipe 35 is connected to the water spray gun structure 31. The high-pressure water pump is used to pump the cleaning water in the water storage tank to the water spray gun structure 31.

[0046] The working process of this embodiment is as follows: When the hangar control host receives the cleaning trigger command, the lifting mechanism 33 starts and stops after completing the corresponding lifting stroke according to the setting of the fifth byte bit in the command (0x01 indicates lifting 1 stage, 0x02 indicates lifting 2 stages); then the high-pressure water pump in the water supply mechanism starts and delivers high-pressure cleaning water to the water spray gun structure 31. At the same time, the rotating mechanism 32 drives the water spray gun structure 31 to rotate, realizing comprehensive spraying and washing of the hangar apron and surrounding areas; during the cleaning process, the hangar control host keeps time according to the preset cleaning duration. After the set duration is reached, it first controls the water supply mechanism to stop the high-pressure water pump to stop the water spraying, and then resets the rotating mechanism 32 and lowers the lifting mechanism 33 to retract the water spray gun structure 31 to the storage cavity below the apron 2; in addition, the water storage tank in the water supply mechanism will monitor the remaining water volume in real time and report the remaining water volume height (unit: mm) to the remote management platform through the fifth and sixth byte bits to ensure timely monitoring of the water source status for replenishment.

[0047] The cleaning device 3, through the coordinated action of the rotating mechanism 32 and the lifting mechanism 33, combined with a high-pressure water supply system, can achieve comprehensive, thorough cleaning of the drone hangar's apron and surrounding area. It effectively removes dust, oil, and residual mud and sand from flight operations, ensuring a smooth and clean apron surface and preventing debris buildup from affecting drone takeoff, landing, and parking safety. The automated cleaning process requires no manual intervention, significantly reducing labor costs. Parameters such as cleaning time and lifting stroke can be precisely set, ensuring cleaning effectiveness while avoiding unnecessary water waste. Real-time reporting of remaining water in the storage tank allows the remote management platform to monitor water supply status, ensuring continuous and stable cleaning operations. After cleaning, the device automatically retracts into the storage chamber, not occupying valuable apron space and maintaining a clean and orderly hangar environment, further enhancing the intelligent management level and ease of use of the drone hangar.

[0048] In some embodiments, the water spray gun structure 31 is rotatably mounted on the connecting seat 341 via a rotating shaft 342. The connecting seat 341 is connected to the output end of the rotating mechanism 32, and the rotating shaft 342 is connected to a pitch adjustment mechanism 34. The pitch adjustment mechanism 34 enables flexible adjustment of the water spray gun structure 31 in the pitch direction. Combined with the horizontal rotation of the rotating mechanism 32, the water spray gun can cover areas at different angles, such as the surface of the helipad, further enhancing the effect of all-round cleaning without dead angles. At the same time, by precisely controlling the pitch and yaw angles, it can perform targeted rinsing on different contaminated areas (such as stubborn oil stains and corners where mud and sand accumulate), improving the targeting and efficiency of cleaning. While ensuring cleaning quality, it further optimizes the rational use of water resources, helping the cleaning device to achieve more intelligent and efficient cleaning operations.

[0049] The pitch adjustment mechanism 34 includes a pitch adjustment motor connected to a rotating shaft. The controlled end of the pitch adjustment motor is connected to the output end of the hangar control host. Through the signal output by the hangar control host, the pitch adjustment motor can drive the rotating shaft to perform forward and reverse rotation and speed adjustment, thereby driving the water spray gun structure 31 to achieve continuous or step-by-step angle adjustment within a preset pitch angle range, ensuring that the water spray gun can accurately aim at the target cleaning area. At the same time, the pitch adjustment motor has a built-in encoder, which can feed back the current angle information to the hangar control host in real time, forming a closed-loop control, further improving the accuracy and stability of angle adjustment, and avoiding the problem of poor cleaning effect due to angle deviation.

[0050] In some embodiments, the rotating mechanism 32 includes a hollow rotating shaft 321, a rotating motor 322, and a fixed hollow shaft 323. The hollow rotating shaft 321 is connected to the water spray gun structure 31. The output end of the rotating motor 322 is connected to the hollow rotating shaft 321. The fixed hollow shaft 323 is coaxially and rotatably connected to the hollow rotating shaft 321. The water supply mechanism is connected to the fixed hollow shaft 323 through a water supply pipe 35. The rotating mechanism 32 also includes a motor mounting base 324, a cover 326, and a connector 325. The bottom end of the rotating motor 322 is mounted on the motor mounting base 324. The motor mounting base 324 is connected to the cover 326 through the connector 325. The cover 326 covers the periphery of the rotating motor 322, the hollow rotating shaft 321, and the fixed hollow shaft 323. The bottom end of the fixed hollow shaft 323 is mounted on the cover 326. Because the hollow rotating shaft 321 is rotatably sealed to the fixed hollow shaft 323, when the water supply pipe 35 supplies water to the fixed hollow shaft 323, the cleaning water can pass through the hollow rotating shaft 321 and then flow to the water spray gun. This ensures that the water spray gun can rotate while also supplying water to the water spray gun normally.

[0051] The rotating mechanism 32 in this embodiment enables the water spray gun to rotate 180° in all directions, effectively expanding the cleaning coverage area and avoiding the problem of incomplete cleaning in certain areas. At the same time, the coaxial sealed rotating connection structure between the hollow rotating shaft 321 and the fixed hollow shaft 323 ensures smooth rotation while maintaining the continuity and stability of water supply, so that the water spray gun always maintains sufficient and stable water pressure, thereby improving cleaning efficiency and cleanliness.

[0052] As an alternative embodiment, the rotating mechanism 32 can also drive the hollow rotating shaft 321 and the fixed hollow shaft 323 to rotate from 0° to 180°.

[0053] In some embodiments, a spring 327 is also provided between the rotary motor 322 and the cover 326 to reduce the vibration of the rotary motor 322.

[0054] In some embodiments, an environmental sensing module is provided on the hangar body 1, and the environmental sensing module is communicatively connected to the hangar control host. The environmental sensing module includes one or more of the following: temperature and humidity sensor, wind speed sensor, rainfall sensor, and liquid level sensor.

[0055] The drone hangar also includes heating equipment, cooling equipment, dehumidification equipment, a hatch 11, and an alarm system. The heating equipment heats the environment inside the drone hangar, the cooling equipment cools the environment inside the drone hangar, and the dehumidification equipment dehumidifies the environment inside the drone hangar. The hatch 11 is installed on the hangar body 1 and is connected to a transmission mechanism. The controlled end of the transmission mechanism is connected to the output end of the hangar control host, and the opening and closing of the hatch 11 is controlled by the hangar control host.

[0056] Temperature and humidity sensors collect real-time temperature and humidity data of the hangar's interior and surrounding environment. When the temperature exceeds the suitable range for drone storage or the humidity exceeds a set threshold, the hangar control unit activates the temperature and humidity regulation system to maintain a stable environment within the hangar through heating, cooling, or dehumidification equipment. Wind speed sensors monitor real-time wind speed outside the hangar. If the wind speed exceeds the safe takeoff and landing threshold for drones, the hangar control unit will issue an alarm and prohibit the drone from taking off or landing. Rainfall sensors detect rainfall. When rainfall reaches a set value, the hangar control unit closes the hangar's entrance / exit door 11 to prevent rainwater from entering the hangar. A level sensor monitors the water level in the cleaning system's storage tank. When the water level falls below a preset lower limit, the hangar control unit triggers a water replenishment mechanism to ensure the cleaning system is always ready for use.

[0057] The environmental perception module transmits various environmental data collected in real time to the hangar control host. After analyzing and processing the data, the hangar control host executes corresponding control actions according to preset logic rules. For example, when the environmental perception module detects that the humidity inside the hangar is too high and the drone is in a waiting-to-store state, the hangar control host will activate the dehumidification device. After the humidity drops to a suitable range, the drone will be controlled to enter the hangar. If the external wind speed is too high, the hangar control host will delay the drone's takeoff command and send wind speed warning information to the ground control terminal. When the drone returns after completing its mission, the environmental perception module first detects the weather conditions around the hangar. After confirming that the takeoff and landing conditions are met, the hangar control host opens the control hatch 11 and guides the drone to land accurately at the designated location.

[0058] In addition, the environmental perception module can also work in conjunction with the cleaning system. When stains are detected on the surface of the drone and environmental conditions permit, the hangar control unit will automatically start the rotating cleaning mechanism to clean the drone, ensuring that the drone is always in good operating condition.

[0059] Reference Figure 3 In some embodiments, a drainage structure is provided on the helipad 2, which includes a plurality of drainage holes 22. The drainage holes 22 are provided on the helipad 2 to drain the water accumulated on the helipad 2.

[0060] In some embodiments, the cleaning device 3 is equipped with a drying device. The controlled end of the drying device is connected to the output end of the hangar control host. The drying device is used to dry the cleaned QR code area 21. The drying device specifically includes a fan, an air duct, an adjustable nozzle, a heating wire, and a temperature sensor. The fan serves as the air source, and its output end is connected to the air duct. The end of the air duct is connected to the adjustable nozzle, which can be adjusted at an angle via a mechanical structure to accurately align with the QR code area 21 on the helipad. The heating wire is located inside the air duct near the nozzle and is used to heat the airflow, accelerating the evaporation of moisture from the surface of the QR code area. The temperature sensor is installed at the nozzle outlet, collecting real-time air temperature data and feeding it back to the hangar control host. The hangar control host adjusts the working power of the heating wire based on the feedback data to prevent excessive temperature from damaging the QR code or drone components. The start and stop of the drying device are automatically controlled by the hangar control host based on the completion signal of the cleaning system, ensuring that the QR code area is dried promptly after cleaning to guarantee the accuracy of QR code recognition.

[0061] After the cleaning unit completes the cleaning operation on the surface of the drone, the hangar control host will simultaneously trigger the drying device to start. Its air outlet is precisely aimed at the QR code area 21 on the landing pad. By outputting a stable and appropriately heated dry airflow, it quickly removes residual water droplets or moisture from the surface of the QR code area, ensuring that the pattern and information of the QR code are always clear and identifiable. This effectively avoids errors in identification, location positioning, and other aspects of the drone's entry into the hangar due to water stains or dampness, further improving the reliability and accuracy of the drone hangar's automatic operation.

[0062] In some embodiments, the cleaning device 3 communicates with the hangar control host via RS485.

[0063] In some embodiments, the hangar body 1 is provided with an image acquisition and AI analysis unit, which is connected to the hangar control host. The image acquisition and AI analysis unit is used to acquire images of the surface of the apron 2 and identify the location, area and type of pollution of the contaminated area.

[0064] The image acquisition and AI analysis unit includes: an image acquisition module, an image preprocessing module, a marker area positioning module, a pollution segmentation module, a geometric parameter calculation module, a pollution classification and assessment module, and a cleanliness level judgment module.

[0065] The image acquisition module is used to acquire raw images of the helipad 2 and the QR code area 21. The image acquisition module is a high-definition industrial camera, which is fixedly installed inside the hangar body 1 and facing the helipad 2 and the QR code area 21.

[0066] The image preprocessing module is used to preprocess the original image. It is configured to perform distortion correction using camera calibration parameters, illumination normalization using a multi-scale algorithm, and image noise removal using adaptive median filtering.

[0067] The identifier area positioning module is used to locate the QR code area 21 and expand it outwards within a preset range as the key detection area. The identifier area positioning module is configured to: achieve coarse positioning of the QR code area by improving the YOLO lightweight network, achieve fine positioning by Shi-Tomasi corner detection and perspective transformation, and expand outwards from the QR code area to form the key detection area.

[0068] The pollution segmentation module performs pixel-level semantic segmentation on key detection areas, extracting the contours of all polluted areas. Pixel-level semantic segmentation uses a lightweight semantic segmentation network to classify each pixel into one of the following categories: background, dust pollution, oil pollution, bird droppings pollution, fallen leaf pollution, and stagnant water pollution.

[0069] The geometric parameter calculation module is used to calculate the center coordinates and actual area of ​​each contaminated area. Independent contaminated areas are extracted through neighborhood connectivity analysis, the centroid coordinates of the contaminated areas are calculated, and then converted into actual physical coordinates and physical area based on calibration coefficients. Cleaning priorities are then determined by sorting these areas according to their distance from the QR code area and their area size.

[0070] The pollution classification and assessment module is used to classify the type and assess the degree of pollution for each polluted area. Based on the type and degree of pollution of each area, the hangar control host adaptively generates a corresponding cleaning strategy and controls the cleaning device 3 to perform precise zoned cleaning. The cleaning strategy includes the cleaning area and / or water pressure and / or rotation angle and / or rotation speed and / or cleaning duration.

[0071] The cleaning area is the precise outline range of each independent contaminated area extracted by the contamination segmentation module. Combined with the center coordinates and area information of the contaminated area obtained by the geometric parameter calculation module, the boundary of each area to be cleaned is determined in sequence according to the cleaning priority. This ensures that the cleaning device can accurately cover the target contaminated area and avoid unnecessary impact on non-contaminated areas.

[0072] The water pressure is a dynamically adjusted parameter value based on the pollution level, area, and type of pollutants in the contaminated area. For example, a lower water pressure is set for lightly polluted areas, while a higher water pressure is set for heavily polluted areas. Additionally, considering the material properties of the helipad surface, if the contaminated area is covered with a fragile coating, the pressure is reduced from the corresponding level to ensure efficient removal of pollutants while avoiding unnecessary damage to the helipad structure.

[0073] The cleanliness assessment module is used to re-acquire images of the apron 2 and QR code area 21 after cleaning, compare them with the standard clean images, and determine whether the contaminated areas have passed the cleaning test. If the cleaning is deemed unqualified and the number of cleaning cycles has not reached the preset maximum, a re-cleaning command is output to the hangar control host; if the cleaning is deemed qualified or the preset maximum number of cleaning cycles has been reached, a cleaning end command is output to the hangar control host.

[0074] The image preprocessing module, the marker area positioning module, the pollution segmentation module, the geometric parameter calculation module, and the pollution classification and assessment module are all integrated into the hangar control host. Each module sequentially performs image preprocessing, QR code area positioning, pollution area segmentation, geometric parameter calculation, and pollution classification and degree assessment to obtain analysis results including pollution location, area, type, and degree. The results are then sent to the hangar control host, which adaptively controls the cleaning device to perform extension, rotation, water spraying, retraction, and cleaning parameter adjustment actions based on the analysis results.

[0075] The application of the aforementioned image acquisition and AI analysis units significantly improves the intelligent cleaning level and operational efficiency of the drone hangar's helipad. On one hand, by accurately identifying the location, area, and type of contaminated areas and prioritizing cleaning, precise zoned cleaning is achieved, avoiding the waste of water and time caused by indiscriminate rinsing of the entire helipad in traditional cleaning methods. Cleaning efficiency is significantly improved compared to conventional methods. On the other hand, cleaning parameters dynamically adjusted based on the degree of contamination and material characteristics effectively remove various pollutants such as sand, oil, and bird droppings while protecting the coating and structural integrity of the helipad surface, reducing the risk of equipment damage caused by cleaning operations. Furthermore, the closed-loop cleanliness assessment mechanism ensures that cleaning results meet standards, preventing residual contamination from affecting the accuracy of QR code recognition or docking stability during drone takeoff and landing. This provides a reliable environmental guarantee for the daily operation and safe operation of drones, further strengthening the automated and intelligent operation and maintenance capabilities of the drone hangar.

[0076] Reference Figure 1 The specific embodiments of the present invention will now be described in detail with reference to the automatic cleaning method for unmanned aerial vehicle (UAV) hangars in the second aspect of the present invention.

[0077] It should be noted that the automatic cleaning method for drone hangars in the second aspect of the present invention is only a preferred embodiment of the present invention. The automatic cleaning method for drone hangars in the present invention can be the automatic cleaning method for drone hangars in the second aspect of the present invention or other methods. For ease of explanation, the automatic cleaning method for drone hangars in the second aspect of the present invention will be used as an example for the following description.

[0078] According to an embodiment of the present invention, in a second aspect, an automatic cleaning method for unmanned aerial vehicle (UAV) hangars is provided, comprising the following steps: S1. Obtain the cleaning trigger command, verify that the current drone warehouse is in idle mode, and then start the cleaning process.

[0079] S2. The cleaning device 3 is moved to the second position and the QR code area 21 is cleaned by controlling the main unit of the hangar.

[0080] S3. After cleaning is completed, the cleaning device 3 is moved to the first position by controlling the main unit of the hangar.

[0081] In step S1, the cleaning triggering instructions include manual triggering of automatic cleaning instructions and / or timed triggering of automatic cleaning instructions and / or automatic cleaning instructions triggered by the image acquisition and AI analysis unit.

[0082] In step S2, the cleaning device 3 is moved to the second position and the QR code area 21 is cleaned by the hangar control host. Specifically, the steps include: according to the preset QR code area 21 information, the cleaning device 3 is moved to the second position by the lifting mechanism 33, and the pitch angle of the water spray gun structure 31 is adjusted so that the water spray gun structure 31 is aligned with the QR code area 21; water is supplied to the water spray gun structure 31 by the water supply mechanism, and the water spray gun structure 31 is rotated by the rotating mechanism 32 to clean the QR code area 21.

[0083] In step S1, after the obtained cleaning trigger instruction is the automatic cleaning instruction triggered by the image acquisition and AI analysis unit, the image acquisition and AI analysis unit acquires a panoramic image of the surface of the helipad 2, identifies the polluted areas in the QR code area 21 and the surrounding area, and determines the coordinates, area, and pollution type of the polluted areas. Specifically, this includes the following steps: acquiring the original images of the helipad 2 and the QR code area 21; preprocessing the original images; locating the QR code area 21 and expanding it outwards within a preset range as the key detection area; performing pixel-level semantic segmentation on the key detection area and extracting the contours of all polluted areas; the pixel-level semantic segmentation uses a lightweight semantic segmentation network to classify each pixel into one of the following categories: background, dust pollution, oil pollution, bird droppings pollution, fallen leaf pollution, and water pollution; calculating the center coordinates and actual area of ​​each polluted area; and classifying the type and assessing the degree of pollution for each polluted area.

[0084] Based on the type and degree of pollution of each polluted area, a corresponding cleaning strategy is adaptively generated and the cleaning device 3 is controlled to perform precise cleaning in each zone; the cleaning strategy includes the cleaning area and / or water pressure and / or rotation angle and / or rotation speed and / or cleaning duration.

[0085] The adaptive cleaning decision module generates a cleaning strategy for each contaminated area based on the contamination information output by the AI ​​analysis unit. For mild dust pollution: Select a fan-shaped nozzle, set the water pressure to the first pressure value, the rotation speed to the first speed value, and the cleaning time to the first cleaning time.

[0086] For moderate oil contamination: Select a conical nozzle, set the water pressure to the second pressure value, the rotation speed to the second speed value, and the cleaning time to the second cleaning time.

[0087] For heavily soiled areas: Select the columnar nozzle, set the water pressure to the third pressure value, the rotation speed to the third speed value, and the cleaning time to the third cleaning time.

[0088] For uncontaminated areas: Skip the cleaning step.

[0089] Among them, the first pressure value < the second pressure value < the third pressure value, the first speed value > the second speed value > the third speed value, and the first cleaning time < the second cleaning time < the third cleaning time.

[0090] Precise zone cleaning: The industrial control unit starts the high-pressure water pump, then controls the rotating mechanism to move the water spray gun structure directly above the first contaminated area, adjusting the pitch angle to the optimal cleaning angle. Cleaning is then performed according to the corresponding cleaning parameters for that area. During the cleaning process, water pressure and flow information are fed back in real time through a water pressure regulating valve and a flow sensor to ensure the accuracy of the cleaning parameters. After cleaning the first contaminated area, the rotating mechanism moves the water spray gun structure to the next contaminated area to continue cleaning, until all contaminated areas are cleaned.

[0091] In step S3, after cleaning is completed, images of the apron 2 and QR code area 21 are acquired again and compared with the standard clean image to determine whether the contaminated area has been cleaned successfully. If it is determined that the cleaning is not successful and the number of cleaning attempts has not reached the preset maximum number, a re-cleaning command is output to the hangar control host; if it is determined that the cleaning is successful or the preset maximum number of cleaning attempts has been reached, a cleaning end command is output to the hangar control host. The specific method is as follows: First, a panoramic image of the apron 2 and the QR code area 21 is captured by a high-definition industrial camera deployed on the top of the hangar. After denoising and enhancement preprocessing, feature parameters such as the area ratio, average gray value, and edge clarity of the contaminated area are extracted. Then, these parameters are compared with a pre-stored standard cleaning image feature library, and a pass / fail threshold is set: when the contaminated area ratio, gray value difference, and edge clarity deviation are all less than the pass / fail threshold, the cleaning is deemed qualified. If any threshold is not met and the current number of cleanings is less than the preset maximum number (e.g., 3 times), the type and degree of contamination are re-identified for the non-compliant area, and an adaptive cleaning strategy is called to generate a targeted re-cleaning plan (e.g., using fan-shaped nozzles and first pressure value for areas with residual light dust), and the re-cleaning command is sent to the hangar control host. If the maximum number of cleanings has been reached and the cleaning is still not qualified, a cleaning end command is output, and the local audible and visual alarms of the hangar and the remote monitoring platform are triggered so that maintenance personnel can intervene in a timely manner.

[0092] In this embodiment, the closed-loop cleaning quality detection and re-cleaning mechanism effectively avoids the problem of residual contaminants on the helipad affecting the take-off and landing accuracy of drones or the success rate of QR code recognition due to incomplete cleaning in a single cycle. This ensures that the helipad is always in a clean state that meets standards, improving the reliability and safety of the automated operation and maintenance of the drone hangar. At the same time, by limiting the maximum number of cleaning cycles, problems such as water waste and accelerated wear and tear on cleaning equipment caused by over-cleaning can be avoided, achieving an optimal balance between cleaning effect and resource cost, and further enhancing the economic efficiency of the overall drone hangar system.

[0093] During the cleaning process, the remaining water volume of the water supply system is collected in real time. If the remaining water volume falls below a preset threshold, the cleaning process is terminated in advance and a water shortage alarm is reported. This mechanism can effectively avoid incomplete cleaning caused by sudden water supply interruptions, prevent residual pollutants on the helipad from affecting the take-off and landing accuracy of drones or the success rate of QR code recognition, and at the same time prevent the cleaning device 3 from running idle in a water shortage state, reducing unnecessary equipment wear and tear, and further improving the operational stability and resource utilization efficiency of the drone hangar system.

[0094] The following describes in detail specific embodiments of the UAV hangar and the automatic cleaning method for the UAV hangar of the present invention, using specific communication protocols.

[0095] The hangar control host is an industrial control processing unit installed inside the hangar body. It is responsible for controlling the water spray guns, opening / closing the hangar doors, collecting sensor data (temperature, humidity, wind speed, rainfall, etc.), and communicating with the management platform.

[0096] The industrial control processing unit manages the status mode_code of the hangar, which includes idle mode - 0, debug mode - 1, work mode - 2, and upgrade mode - 3.

[0097] The water gun's status, water_gun_mode, has an idle mode of 0 and an operational mode of 1. The water gun can only be activated in debug mode (mode_code=1) in the hangar; in any other hangar state, the water gun is in idle mode.

[0098] Upon receiving the instruction, the lifting mechanism rises and stops when it reaches the set lifting stroke.

[0099] The industrial control processing unit and the water spray gun communicate via RS485.

[0100] Some of the protocol formats are as follows:

[0101] crc is a 16-bit CRC value ranging from 1 to len+4.

[0102] When mode_code=1, upon receiving a cleaning task, the industrial control processing unit first sends an instruction to raise the lifting column.

[0103] Raise the water gun: In the fifth byte, 0x01 indicates one rising segment, and 0x02 indicates two rising segments.

[0104] Execution result:

[0105] A result of 0 indicates successful execution, while other values ​​indicate an error.

[0106] The high-pressure water pump starts and begins rotating spraying.

[0107] Start the water pump: In the fifth byte, 0x01 indicates water spraying, 0x02 indicates automatic rotation, and 0x03 indicates rotation and water spraying. Automatic rotation is 180 degrees / 30 seconds.

[0108]

[0109] Execution result:

[0110] A result of 0 indicates successful execution, while other values ​​indicate an error.

[0111] Adjust the rotation angle: The data in the fifth byte represents the rotation angle. The minimum adjustment angle is 10 degrees. Clockwise adjustment increases the angle, and counterclockwise adjustment decreases the angle. Each adjustment value is a multiple of 10, and the maximum range is 0~180.

[0112] Execution result:

[0113] A result of 0 indicates successful execution, while other values ​​indicate an error.

[0114] Once the set cleaning time is complete, stop spraying water and retract the water gun.

[0115] The cleaning time can be configured to 1, 2, or 5 minutes, with the default being 2 minutes.

[0116] Stop the water pump: In the fifth byte, 0x01 indicates stop, and 0x02 indicates pause;

[0117] Execution result:

[0118] A result of 0 indicates successful execution, while other values ​​indicate an error.

[0119] Retract the water gun: In the fifth byte, 0x01 indicates that 1 segment is reclaimed, and 0x02 indicates that 2 segments are reclaimed, which must be consistent with the number of segments raised.

[0120]

[0121] Execution result:

[0122] A result of 0 indicates successful execution, while other values ​​indicate an error.

[0123] The following solutions can be used to clean the hangar: Manual single-step control: During manual cleaning, each step requires manual operation, with no time limit, and the cleaning results can be viewed at any time through the camera on the hangar.

[0124] Manually triggered automatic cleaning: The hangar management platform interface has a one-click cleaning function, which can be manually clicked to automatically trigger the cleaning process.

[0125] Automatic cleaning triggered by a set time: The cleaning process is automatically triggered when the preset time arrives.

[0126] AI analysis of cameras triggers automatic cleaning: When mode_code=1, the hangar automatically uses the cameras installed in the hangar to perform AI recognition on the tarmac. Based on the analysis results, if cleaning is required, it will be performed directly.

[0127] Automatic cleaning process flow chart (refer to) Figure 5 Each automatic cleaning cycle is set to last 2 minutes. During the automatic cleaning process, the nozzle automatically rotates between 0 and 180 degrees at a speed of 180 degrees / 30 seconds. The camera activates AI analysis, and based on the analysis results, if cleaning is needed again, it continues cleaning, repeating up to 3 times. If the cleaning is complete, the automatic cleaning process ends, and the spray gun is retracted. If cleaning has been performed 3 times and the cleaning is still incomplete, the automatic cleaning process ends, the spray gun is retracted, and a warning indicating incomplete cleaning is reported to the management platform.

[0128] A level sensor is installed in the water storage tank to periodically report the current remaining water volume. Water volume reporting: The fifth and sixth bytes indicate the remaining water level in millimeters.

[0129]

[0130] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the above embodiments.

Claims

1. A drone hangar, characterized in that, include: The hangar body (1) has a storage cavity inside; The helipad (2) is set on the hangar body (1) and located above the storage cavity. The surface of the helipad (2) is provided with a QR code area (21) for visual landing recognition of UAVs. The cleaning device (3) has a first position and a second position. When the cleaning device (3) is in the first position, the cleaning device (3) is stored under the apron (2). When the cleaning device (3) is in the second position, the cleaning device (3) extends outward from the apron (2) and cleans the QR code area (21). The hangar control host is connected to the controlled end of the cleaning device (3). The hangar control host is used to control the cleaning device (3) to switch between the first position and the second position and to control the cleaning device (3) to perform cleaning actions.

2. The drone hangar according to claim 1, characterized in that, The cleaning device (3) includes: A water spray gun structure (31) is used to spray cleaning water; A rotating mechanism (32) is provided below the water spray gun structure (31) and is used to drive the water spray gun structure (31) to rotate. The lifting mechanism (33) is located below the rotating mechanism (32) and is used to drive the rotating mechanism (32) and the water spray gun structure (31) to lift. A water supply mechanism is connected to a water spray gun structure (31) and is used to supply cleaning water to the water spray gun structure (31).

3. The drone hangar according to claim 2, characterized in that, The water spray gun structure (31) is rotatably mounted on a connecting seat via a rotating shaft. The connecting seat is connected to the output end of the rotating mechanism (32). The rotating shaft is connected to a pitch adjustment mechanism (34); and / or The rotating mechanism (32) includes a hollow rotating shaft (321), a rotating motor (322), and a fixed hollow shaft (323). The hollow rotating shaft (321) is connected to the water spray gun structure (31). The output end of the rotating motor (322) is connected to the hollow rotating shaft (321). The fixed hollow shaft (323) is coaxially and sealed to the hollow rotating shaft (321). The water supply mechanism is connected to the fixed hollow shaft (323) through a water supply pipe.

4. The drone hangar according to claim 1, characterized in that, An environmental sensing module is installed on the hangar body (1), and the environmental sensing module is communicatively connected to the hangar control host; the environmental sensing module includes one or more of the following: temperature and humidity sensor, wind speed sensor, rainfall sensor, and liquid level sensor; and / or The helipad (2) is equipped with a drainage structure; and / or The cleaning device (3) is equipped with a drying device. The controlled end of the drying device is connected to the output end of the hangar control host. The drying device is used to dry the cleaned QR code area (21). and / or The cleaning device (3) communicates with the hangar control host via RS485.

5. The drone hangar according to any one of claims 1-4, characterized in that, An image acquisition and AI analysis unit is installed on the hangar body (1). The image acquisition and AI analysis unit is connected to the hangar control host. The image acquisition and AI analysis unit is used to acquire surface images of the apron (2) and identify the location, area, and type of pollution in the contaminated area. The image acquisition and AI analysis unit includes: The image acquisition module is used to acquire the original images of the helipad (2) and the QR code area (21); The image preprocessing module is used to preprocess the original image; The identification area positioning module is used to locate the QR code area (21) and extend it outward to a preset range as the key detection area; The pollution segmentation module is used to perform pixel-level semantic segmentation on key detection areas and extract the contours of all polluted areas. The pixel-level semantic segmentation uses a lightweight semantic segmentation network to classify each pixel into one of the following categories: background, dust pollution, oil pollution, bird droppings pollution, fallen leaf pollution, and stagnant water pollution. The geometric parameter calculation module is used to calculate the center coordinates and actual area of ​​each contaminated area; The pollution classification and assessment module is used to classify each polluted area by type and assess the degree of pollution. The hangar control host adaptively generates a corresponding cleaning strategy based on the type and degree of pollution of each polluted area and controls the cleaning device (3) to perform precise cleaning in zones. The cleaning strategy includes the cleaning area and / or water pressure and / or rotation angle and / or rotation speed and / or cleaning duration. The cleanliness judgment module is used to acquire images of the apron (2) and QR code area (21) again after cleaning, compare them with the standard clean image, and judge whether the contaminated area is cleaned properly. When it is determined that the cleaning is not qualified and the number of cleaning times has not reached the preset maximum number, a re-cleaning instruction is output to the hangar control host. When it is determined that the cleaning is qualified or the preset maximum number of cleaning times has been reached, a cleaning end instruction is output to the hangar control host.

6. An automatic cleaning method for unmanned aerial vehicle (UAV) hangars, characterized in that, The cleaning of the drone hangar according to any one of claims 1-5 includes the following steps: S1. Obtain the cleaning trigger command, verify that the current drone hangar is in idle mode, and then start the cleaning process; S2. The cleaning device (3) is moved to the second position and the QR code area (21) is cleaned by controlling the main unit of the hangar control. S3. After cleaning is completed, the cleaning device (3) is moved to the first position by controlling the main unit of the hangar.

7. The automatic cleaning method for unmanned aerial vehicle (UAV) hangars according to claim 6, characterized in that, In step S1, the cleaning triggering command includes a manually triggered automatic cleaning command and / or a timed automatic cleaning command and / or an automatic cleaning command triggered by the image acquisition and AI analysis unit; and / or In step S2, the cleaning device (3) is moved to the second position by the hangar control host and the QR code area (21) is cleaned. Specifically, the steps include: according to the preset QR code area (21) information, the cleaning device (3) is moved to the second position by the lifting mechanism (33), and the pitch angle of the water spray gun structure (31) is adjusted so that the water spray gun structure (31) is aligned with the QR code area (21); water is supplied to the water spray gun structure (31) by the water supply mechanism, and the water spray gun structure (31) is rotated by the rotating mechanism (32) to clean the QR code area (21).

8. The automatic cleaning method for unmanned aerial vehicle hangars according to claim 7, characterized in that, In step S1, after the obtained cleaning trigger instruction is the automatic cleaning instruction triggered by the image acquisition and AI analysis unit, the image acquisition and AI analysis unit acquires a panoramic image of the surface of the helipad (2), identifies the polluted area of ​​the QR code area (21) and the surrounding area, and determines the coordinates, area and pollution type of the polluted area. Specifically, the steps include: acquiring the original images of the helipad (2) and the QR code area (21); preprocessing the original images; locating the QR code area (21) and expanding it outward to a preset range as the key detection area; performing pixel-level semantic segmentation on the key detection area and extracting the outline of all polluted areas; the pixel-level semantic segmentation adopts a lightweight semantic segmentation network, classifying each pixel into one of the following: background, sand and dust pollution, oil pollution, bird droppings pollution, fallen leaf pollution and water pollution. Calculate the center coordinates and actual area of ​​each contaminated area; classify each contaminated area by type and assess its degree of contamination; Based on the type and degree of pollution of each polluted area, an adaptive cleaning strategy is generated and the cleaning device (3) is controlled to perform precise cleaning in the zone; the cleaning strategy includes the cleaning area and / or water pressure and / or rotation angle and / or rotation speed and / or cleaning duration.

9. The automatic cleaning method for unmanned aerial vehicle hangars according to claim 6, characterized in that, In step S3, after cleaning is completed, the images of the apron (2) and the QR code area (21) are acquired again and compared with the standard cleaning image to determine whether the contaminated area is cleaned properly. When it is determined that the cleaning is not qualified and the number of cleaning times has not reached the preset maximum number, a re-cleaning instruction is output to the hangar control host. When it is determined that the cleaning is qualified or the preset maximum number of cleaning times has been reached, a cleaning end instruction is output to the hangar control host.

10. The automatic cleaning method for unmanned aerial vehicle hangars according to any one of claims 6-9, characterized in that, During the cleaning process, the remaining water volume of the water supply system is collected in real time. If the remaining water volume is lower than the preset threshold, the cleaning process is terminated in advance and a water shortage alarm is reported.

Images