Control methods, equipment and storage media for cleaning systems

Abstract

This application discloses a control method, device, and storage medium for a cleaning system. The application relates to the field of unmanned aerial vehicle (UAV) control technology. The method includes: responding to touch information received by a remote control module to determine the curtain wall material type and a cleaning path; controlling the cleaning UAV to hover at a starting point corresponding to the cleaning path; determining the length parameter of the telescopic rod and the angle parameter of the first rotating component based on cleaning parameters corresponding to the curtain wall material type and the relative distance between the starting point and the target working plane; determining the water pressure parameter of the ground base station based on the cleaning parameters; controlling the cleaning UAV based on the length parameter, the angle parameter, and the cleaning path, and controlling the ground base station based on the water pressure parameter, to perform a cleaning task on the target working plane. This application can achieve the technical effect of reducing the overall power consumption of the cleaning UAV.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a control method, device and storage medium for a cleaning system. Background Technology

[0002] Cleaning drones use high-pressure water jets to clean target surfaces, significantly improving efficiency compared to traditional manual methods. Currently, most existing cleaning drones use a flight control system to independently control the rotor motor speed to maintain their operational attitude and clean the target surface. However, the open-source control algorithms used in these technologies result in high power consumption. Summary of the Invention

[0003] The main purpose of this application is to provide a control method, device and storage medium for a cleaning system, which aims to solve the technical problem of high power consumption caused by the use of open source control algorithms in cleaning drones.

[0004] To achieve the above objectives, this application provides a control method for a cleaning system, the control method comprising: The cleaning system includes a cleaning drone, a remote control module, and a ground base station. The cleaning drone is a quadcopter, and the rotor of the cleaning drone forms a first angle with the plane on which the drone body is located. The cleaning drone also includes a water outlet assembly, which includes a telescopic rod and a water outlet. The water outlet and the telescopic rod are connected by a first rotating assembly, which is used to adjust the angle of the water outlet relative to the drone body. The control method of the cleaning system includes: In response to the touch information received by the remote control module, the curtain wall material type and cleaning path are determined; Control the cleaning drone to hover at the starting point corresponding to the cleaning path; Based on the cleaning parameters corresponding to the curtain wall material type, and the relative distance between the starting point and the target working plane, determine the length parameters of the telescopic rod and the angle parameters of the first rotating component; The water pressure parameters of the ground base station are determined based on the cleaning parameters. The cleaning drone is controlled according to the length parameter, the angle parameter, and the cleaning path, and the ground base station is controlled according to the water pressure parameter, so as to perform cleaning tasks on the target working plane.

[0005] In one embodiment, determining the length parameter of the telescopic rod and the angle parameter of the first rotating component based on the cleaning parameters corresponding to the curtain wall material type and the relative distance between the starting point and the target working plane includes: At the starting point, the measured distance between the drone body and the target working plane is obtained by the onboard distance sensor of the cleaning drone. Based on the type of curtain wall material, obtain the corresponding preset working gap and effective cleaning spray distance threshold; Using the measured distance as a constraint, a joint calculation model for the length of the telescopic rod and the angle of the first rotating component is constructed to solve for the length parameter and the angle parameter. The joint calculation model satisfies the preset working gap as a position constraint, and the angle between the water flow axis of the outlet and the normal of the target working plane falls within the allowable angle range corresponding to the effective cleaning spray distance threshold as an attitude constraint. The optimization objective is to minimize the estimated power consumption of the entire cleaning drone in the hovering cleaning state. The target length parameter of the telescopic rod and the target angle parameter of the first rotating component are output. The estimated power consumption of the entire machine is determined at least based on the horizontal component force generated by the rotor to maintain the first angle, the center of gravity offset moment of the telescopic rod at the current extension length, and the estimated power consumption of the ground base station under the corresponding water pressure.

[0006] In one embodiment, determining the water pressure parameters of the ground base station based on the cleaning parameters includes: Obtain the cleaning impact force threshold corresponding to the curtain wall material type; Obtain the target travel speed corresponding to the cleaning path; Based on the cleaning impact force threshold and the target travel speed, the water pressure velocity matching model is invoked to determine the reference water pressure; the water pressure velocity matching model is used to determine the negative correlation mapping relationship between the target travel speed and the reference water pressure output by the ground base station under the constraint that the water flow impact force sprayed from the outlet to the target working plane is not lower than the cleaning impact force threshold. Using the reference water pressure as the lower limit constraint, within the preset water pressure adjustment range, the joint optimization model for water pressure reaction force power consumption is invoked. The joint optimization model uses the cleaning impact force corresponding to the reference water pressure as the lower limit constraint, and takes the sum of the estimated thrust power consumption required by the rotor at the first angle to offset the reaction force generated by different water pressures and the estimated pumping power consumption of the ground base station at the corresponding water pressure as the objective function to solve for the water pressure parameters that minimize the total cleaning-related power consumption.

[0007] In one embodiment, controlling the cleaning drone based on the length parameter, the angle parameter, and the cleaning path, and controlling the ground base station based on the water pressure parameter to perform a cleaning task on the target work plane includes: The cleaning path is discretized into a path sequence consisting of alternating work segments and turnaround segments; If the operation is in the specified section, control the telescopic rod to extend to the target length corresponding to the length parameter, control the first rotating component to adjust to the target angle corresponding to the angle parameter, and control the ground base station to output the target water pressure corresponding to the water pressure parameter in order to perform the cleaning task; If the device is in the reversal section, control the telescopic rod to retract to its minimum length, control the first rotating component to reset to the storage angle, and close the water outlet to reduce the power consumption of the reversal.

[0008] In one embodiment, after controlling the cleaning drone according to the length parameter, the angle parameter, and the cleaning path, and controlling the ground base station according to the water pressure parameter to perform a cleaning task on the target work plane, the process includes: Obtain the real-time roll angle and real-time pitch angle of the cleaning drone relative to the horizontal plane; The instantaneous attitude offset of the cleaning drone is calculated based on the real-time roll angle and real-time pitch angle. Determine whether the instantaneous attitude offset exceeds a preset attitude offset tolerance threshold; If it exceeds the limit, then based on the instantaneous attitude offset, estimate the additional power consumption for attitude maintenance corresponding to the current attitude offset; Based on the water pressure parameters, within the pressure reduction optimization range formed by the allowable lower limit of water pressure determined by the cleaning impact force threshold corresponding to the curtain wall material type and the current water pressure parameters, the target water pressure parameters after dynamic adjustment are calculated with the sum of the additional power consumption of the posture maintenance and the estimated pumping power consumption of the ground base station as the optimization target. The ground base station is controlled to output according to the target water pressure parameters.

[0009] In one embodiment, before controlling the ground base station to output according to the target water pressure parameter, the following steps are included: Obtain the current actual output water pressure value of the ground base station; Calculate the water pressure change between the target water pressure parameter and the actual output water pressure value; Determine the reaction force change vector corresponding to the water pressure change, wherein the reaction force change vector describes the magnitude of the reaction force acting on the cleaning drone in the opposite direction along the water flow axis of the outlet; Based on the reaction force change vector, calculate the feedforward thrust compensation amount required by the rotor to counteract the reaction force; While sending the water pressure adjustment command to the ground base station, the feedforward thrust compensation is superimposed on the output of the flight attitude control loop of the cleaning drone, so that the thrust output of the rotor is adjusted synchronously with the water pressure change, thereby eliminating the transient attitude disturbance of the fuselage caused by the water pressure change.

[0010] In one embodiment, the control method for the cleaning system further includes: The operating tilt angle value is determined based on the estimated cleaning reaction force corresponding to the water pressure parameters. If the cleaning drone is in the working phase, control the first angle of the rotor to adjust to the working tilt angle value; If the cleaning drone is in the turnaround phase, the first angle of the rotor is adjusted to the cruise tilt angle value; the cruise tilt angle value is less than the operating tilt angle value, wherein both the operating tilt angle value and the cruise tilt angle value are greater than 0°.

[0011] In one embodiment, the ground base station includes a multi-way valve, a pipeline venting device, and multiple liquid storage tanks; the multiple liquid storage tanks are used to store different types of cleaning media respectively. After controlling the cleaning drone according to the length parameter, the angle parameter, and the cleaning path, and controlling the ground base station according to the water pressure parameter to perform the cleaning task on the target work plane, the process includes: Send a liquid supply switching command to the ground base station to control the multi-way valve to switch the current liquid supply pipeline from the previous liquid supply type to the target liquid supply type corresponding to the liquid supply switching command; A pipeline purging command is sent to the ground base station to control the pipeline purging device to purge the cleaning medium of the previous liquid supply type remaining in the liquid supply pipeline until the type of cleaning medium flowing out of the pipeline end is detected to be consistent with the target liquid supply type.

[0012] In addition, to achieve the above objectives, this application also provides a control device for a cleaning system, the control device for the cleaning system comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method for the cleaning system as described above.

[0013] In addition, to achieve the above objectives, this application also provides a storage medium, which is a computer-readable storage medium, on which a program for implementing a control method for a cleaning system is stored, and the program for implementing the control method for a cleaning system is executed by a processor to implement the steps of the control method for a cleaning system as described above.

[0014] This application provides a control method for a cleaning system. First, the rotor of the cleaning drone forms a first angle with the plane on which the drone body is located, so that the rotor generates a horizontal composite force pointing in the direction of the target working plane when it rotates. This horizontal composite force can actively resist the cleaning reaction force generated by the water jet from the outlet to the curtain wall during the cleaning operation, thereby reducing the extra correction thrust output by the flight control to maintain the stability of the fuselage and reducing the power consumption for attitude maintenance in the hovering cleaning state.

[0015] Based on this, this application determines the curtain wall material type and cleaning path by responding to touch information received by the remote control module. Based on the cleaning parameters corresponding to the curtain wall material type and the relative distance between the starting point and the target working plane, it determines the length parameters of the telescopic rod and the angle parameters of the first rotating component. This allows the water outlet to be precisely positioned at a preset working gap matching the curtain wall material, and to perform the cleaning task at the optimal spray angle. This avoids excessive or insufficient water flow impact force due to improper working distance and spray angle, which would require the ground base station to output excessively high water pressure or the drone to repeatedly adjust its attitude, resulting in additional power consumption. Furthermore, this application determines the water pressure parameters of the ground base station based on the cleaning parameters, ensuring that the water pressure output by the ground base station is linked and matched with the curtain wall material type, working distance, and spray angle. This avoids the waste of pumping power due to blindly setting the water pressure to the maximum value, and the chain reaction power consumption problem caused by excessive cleaning reaction force due to excessive water pressure forcing the rotor to increase thrust output.

[0016] In summary, this application achieves a reduction in the overall power consumption of the cleaning drone by passively canceling out the horizontal composite force generated by the first angle of the rotor with the cleaning reaction force through a physical mechanism. Combined with the linkage calculation of the telescopic rod length, the angle of the first rotating component, and the water pressure parameters, the structural features and control algorithm are deeply coupled. This is achieved through system-level collaborative optimization, overcoming the technical defects of existing open-source solutions that result in high power consumption due to the generalization of structural design and the lack of linkage optimization in the control algorithm, and improving the energy efficiency of the cleaning drone. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the control method of the cleaning system in Embodiment 1 of this application. Figure 2 This is a schematic diagram of steps S80-S82 in Embodiment 7 of the control method for the cleaning system of this application; Figure 3 This is a schematic diagram of the hardware operating environment involved in the control equipment of the cleaning system of this application.

[0020] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of this application and are not intended to limit this application.

[0022] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0023] Currently, cleaning drones generally use a flight control system to independently control the rotor motor speed to maintain their operational attitude and thus clean the target surface. However, the open-source control algorithms used in these cleaning drone technologies result in high power consumption.

[0024] The main solution of this application is as follows: responding to the touch information received by the remote control module, the curtain wall material type and cleaning path are determined; the cleaning drone is controlled to hover to the starting point corresponding to the cleaning path; the length parameter of the telescopic rod and the angle parameter of the first rotating component are determined according to the cleaning parameters corresponding to the curtain wall material type and the relative distance between the starting point and the target working plane; the water pressure parameter of the ground base station is determined according to the cleaning parameters; the cleaning drone is controlled according to the length parameter, the angle parameter, and the cleaning path, and the ground base station is controlled according to the water pressure parameter to perform the cleaning task on the target working plane.

[0025] This application achieves a passive cancellation of the horizontal composite force generated by the first angle of the rotor and the cleaning reaction force through a physical mechanism. By combining the linkage calculation of the telescopic rod length, the angle of the first rotating component and the water pressure parameters, the structural features and the control algorithm are deeply coupled. This reduces the overall power consumption of the cleaning drone through system-level collaborative optimization, overcoming the technical defects of existing open-source solutions that result in high power consumption due to the generalization of structural design and the lack of linkage optimization in the control algorithm. This improves the energy efficiency of the cleaning drone.

[0026] It should be noted that the executing entity in this embodiment can be a cleaning system, or a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a control device for a cleaning system capable of performing the above functions. This embodiment does not specifically limit the specific implementation. The following description uses a cleaning system as the executing entity to illustrate this embodiment and the subsequent embodiments.

[0027] Based on this, Embodiment 1 of this application proposes a control method for a cleaning system, please refer to... Figure 1 The control method for the cleaning system includes steps S10 to S50: Step S10: In response to the touch information received by the remote control module, determine the curtain wall material type and cleaning path.

[0028] In this embodiment, touch information refers to the set of instructions input by the operator through the touch display screen or physical buttons of the remote control module, used to characterize the current working condition of the curtain wall to be cleaned. Curtain wall material type refers to the classification of the surface material of the glass curtain wall, including at least ordinary float glass, coated glass, laminated glass, and colored enamel glass. Cleaning path refers to the covering movement trajectory executed by the UAV over the target working plane, consisting of several parallel horizontal lines and turning-back lines connecting adjacent horizontal lines.

[0029] As an optional implementation, the remote control module's touchscreen display provides a list of curtain wall material options. The operator selects the current curtain wall material type based on the site survey results. Simultaneously, the remote control module's built-in path planning module automatically generates a zigzag cleaning path covering the entire work area, based on the operator's touch gesture-defined work area boundaries and preset coverage width and flight path overlap parameters. The remote control module converts the selected material type into material-coded data and discretizes the generated cleaning path into a series of three-dimensional waypoint coordinate sequences. These, along with the material-coded data, are packaged into a touch information data packet and sent to the cleaning drone's flight controller via a wireless communication link. After parsing the data packet, the flight controller stores the material code in a memory register and the waypoint coordinate sequence in a path cache queue as a reference trajectory for subsequent flight control.

[0030] As an alternative implementation, the remote control module does not provide complete automatic path planning. Instead, the operator manually selects the coordinates of key inflection points on the curtain wall via a touchscreen display. The remote control module connects these inflection points sequentially to form a polygonal path and then translates and copies this polygonal path radially to one side according to a preset heading offset distance, generating a set of equally spaced parallel flight paths. Adjacent parallel flight paths are connected by arc transition paths to form a complete cleaning path. For different curtain wall material types, the remote control module uses its built-in camera to capture images of the curtain wall surface, calls a locally deployed lightweight image classification model to infer the images, outputs a probability distribution vector of the curtain wall material, and automatically fills the highest probability category as the current material type. The operator can also confirm or manually correct the identification result via touch. After receiving the touch information generated in this way, the flight controller stores the material type and path information in the same data format.

[0031] Step S20: Control the cleaning drone to hover at the starting point corresponding to the cleaning path.

[0032] In this embodiment, the starting point refers to the three-dimensional spatial coordinates of the first work waypoint in the cleaning path, including the horizontal position component relative to the ground base station and the height component relative to the target work plane. Hovering refers to the flight state of the UAV in three-dimensional space where the rate of change of position is less than a preset threshold and the rate of change of attitude angle is less than a preset threshold.

[0033] As an optional implementation, the flight controller reads the starting point coordinates from the path cache queue and inputs them as the target position to the position control loop. The position control loop first obtains the current three-dimensional position of the UAV through the onboard differential GPS and calculates the position deviation vector between the current position and the starting point. Subsequently, the position control loop uses this position deviation vector as the input to the proportional-integral-derivative controller, and outputs the desired acceleration vector after calculation. The desired acceleration vector is allocated to the attitude control loop, which calculates the rotor speed increment based on the current attitude angle. At the same time, the flight controller activates the onboard ultrasonic ranging sensor to continuously measure the real-time distance between the UAV and the target working plane at a preset sampling frequency. When the absolute value of the deviation between the real-time distance and the preset target working distance at the starting point is less than a first preset threshold, and the magnitude of the position deviation vector is less than a second preset threshold, and this state continues for a preset duration, the flight controller determines that the UAV has reached the starting point and entered a hovering state, and then sends a position confirmation signal to the remote control module and the ground base station.

[0034] As an alternative implementation, in scenarios where the differential GPS signal is unavailable due to building obstruction, the flight controller switches to visual-inertial odometry (VIO) positioning mode. The airborne downward-facing camera acquires a sequence of textured images of the target working plane. The visual front-end extracts feature points from the images and performs inter-frame matching. Combined with acceleration and angular velocity data provided by the airborne inertial measurement unit, the real-time position of the UAV is estimated through extended Kalman filtering. The flight controller replaces the differential GPS position with the fused estimated position and drives the UAV to the starting point and enters a hovering state according to the same control logic as the previous implementation. This implementation solves the positioning reliability problem in urban canyon environments through visual-inertial fusion positioning, ensuring the accuracy of reaching the starting point.

[0035] Step S30: Based on the cleaning parameters corresponding to the curtain wall material type and the relative distance between the starting point and the target working plane, determine the length parameters of the telescopic rod and the angle parameters of the first rotating component.

[0036] In this embodiment, the cleaning parameters refer to the preset working gap and the effective cleaning spray distance threshold associated with the curtain wall material type. The preset working gap refers to the safe distance that should be maintained between the end of the cleaning nozzle outlet and the target working plane. The effective cleaning spray distance threshold refers to the maximum spray distance corresponding to the attenuation of the impact force to the lower limit of the effective cleaning capacity when the water flow is sprayed from the outlet to the target working plane. The relative distance refers to the measured distance between the reference point on the UAV body at the starting point and the target working plane. The length parameter refers to the target length value of the telescopic rod extending along its axial direction. The angle parameter refers to the target angle value of the first rotating component driving the outlet to rotate around its rotation axis; this angle value characterizes the deflection relationship between the water flow spray direction of the outlet and the UAV body coordinate system.

[0037] As an optional implementation, the flight controller first calls a material parameter mapping table stored in local non-volatile memory. This mapping table, indexed by material codes, stores preset working gap values ​​and effective cleaning spray distance thresholds corresponding to each material type. The flight controller queries this mapping table using the material codes obtained in step S10 as keys, and reads the preset working gap and effective cleaning spray distance threshold corresponding to the current material. Simultaneously, the flight controller reads the measured distance values ​​collected by the airborne ultrasonic ranging sensor in the hovering state in step S20. Using the measured distance as the total arm length constraint, the flight controller constructs a geometric relationship solution equation. This geometric relationship solution equation uses the telescopic rod length and the angle of the first rotating component as unknowns, the preset working gap as a position constraint—that is, the distance along the normal direction between the end of the water outlet and the target working plane must be equal to the preset working gap—and the effective cleaning spray distance threshold as an attitude constraint—that is, the actual spray distance from the water outlet water flow axis from the water outlet to the target working plane must be less than or equal to the effective cleaning spray distance threshold. Solving these equations simultaneously yields one or more sets of telescopic rod length and angle values ​​that satisfy the constraints. The flight controller selects the set of solutions with the smallest telescopic boom length value as the target length and target angle parameters to reduce wind drag torque in the extended state. Finally, the flight controller sends the target length parameter to the electric actuator drive circuit of the telescopic boom and the target angle parameter to the servo drive circuit of the first rotating component.

[0038] As an alternative implementation, the flight controller does not use the minimum telescopic boom length as the sole selection criterion. Instead, it introduces a comprehensive optimization model for overall system power consumption, while satisfying preset operational gap constraints and effective cleaning spray distance threshold constraints. This power consumption optimization model is pre-stored in the flight controller. Its inputs are candidate combinations of telescopic boom length and angle values, and its output is the estimated overall system power consumption under that combination. The estimated overall system power consumption includes at least: the thrust power consumption corresponding to the gravity force that the rotor needs to overcome to maintain the current hovering attitude and the center of gravity shift moment generated by the telescopic boom extension, as well as the additional thrust power consumption required to counteract the reaction force of the water jet. The flight controller traverses and searches within the candidate solution space that satisfies the geometric constraints, selecting the candidate combination that minimizes the estimated overall system power consumption as the final target length and target angle parameters. Compared to the minimum length criterion, this implementation achieves better overall energy efficiency in scenarios where the telescopic boom length is slightly increased but the rotor thrust power consumption is significantly reduced.

[0039] Step S40: Determine the water pressure parameters of the ground base station based on the cleaning parameters.

[0040] In this embodiment, the water pressure parameter refers to the preset water pressure value at the output end of the high-pressure water supply system in the ground base station. This water pressure value determines the initial velocity of the cleaning fluid sprayed from the outlet, which in turn affects the magnitude of the impact force when the water flow reaches the target working plane.

[0041] As an optional implementation, the flight controller obtains the cleaning impact force threshold corresponding to the current material type read from the material parameter mapping table in step S30. This cleaning impact force threshold represents the minimum water flow impact force required to effectively remove stains from the surface of the material. The flight controller internally stores a preset water pressure and terminal impact force conversion model. This model is pre-calibrated based on Bernoulli's equation and jet attenuation law in fluid mechanics. Its inputs are the initial water pressure and spray distance at the outlet, and its output is the terminal impact force at the target working plane. Using the cleaning impact force threshold corresponding to the current material as a lower constraint and the spray distance determined in step S30 as a known input, the flight controller calls the inverse function of the water pressure and terminal impact force conversion model to calculate the minimum initial water pressure corresponding to the terminal impact force equal to the cleaning impact force threshold, and uses this minimum initial water pressure as a reference water pressure value. The flight controller then amplifies the reference water pressure value according to a preset safety margin coefficient to obtain the final water pressure parameter, and sends it to the ground base station through a wireless communication link. The introduction of this safety margin factor compensates for the attenuation of impact force caused by factors such as changes in wind speed and nozzle blockage during actual operation, ensuring the consistency of cleaning results.

[0042] As an alternative implementation, the flight controller does not rely solely on the cleaning impact force threshold as a constraint, but further incorporates the influence of water flow reaction force on the UAV's attitude disturbance for joint optimization. Based on the telescopic boom length and angle parameters determined in step S30, and combined with the water jet flow rate corresponding to the water pressure parameters, the flight controller calculates the reaction force vector generated by the water jet along the jet direction. The magnitude of this reaction force vector is positively correlated with the water pressure parameters. The flight controller then calculates the thrust increment required by the rotor to counteract the horizontal and vertical components of this reaction force vector. Using the cleaning impact force threshold as a lower constraint, the flight controller searches within a preset water pressure adjustment range for the water pressure value that minimizes the sum of "thrust increment power consumption and ground base station pumping power consumption," using this as the final water pressure parameter. Compared to the previous implementation, which passively addresses disturbances only through safety margins, this implementation optimizes the water pressure value from the source, actively reducing excessively high water pressure while ensuring the cleaning impact force meets the standard, thereby reducing additional rotor power consumption caused by the reaction force and achieving optimal overall energy efficiency.

[0043] Step S50: Control the cleaning drone according to the length parameter, the angle parameter, and the cleaning path, and control the ground base station according to the water pressure parameter, so as to perform the cleaning task on the target working plane.

[0044] In this embodiment, the cleaning task refers to the complete process of the drone moving along the cleaning path and continuously spraying cleaning fluid from the outlet to remove stains from the target working surface.

[0045] As an optional implementation, the flight controller sequentially retrieves the waypoint coordinate sequence stored in the path cache queue in step S20, and drives the UAV to fly along the cleaning path sequentially with each waypoint as the target position. During flight, the flight controller continuously performs the following operations at a preset control cycle: writing the target length and angle parameters determined in step S30 into the registers of the telescopic boom electric push rod drive circuit and the first rotating component servo drive circuit, respectively, driving the telescopic boom to maintain the target length extension and driving the water outlet to maintain the target angle deflection; simultaneously, the flight controller sends the water pressure parameters determined in step S40 to the ground base station via a wireless communication link. After receiving the water pressure parameters, the ground base station writes them into the register of the variable frequency water pump driver, and the variable frequency water pump adjusts the output water pressure to the target value according to the parameters. The flight controller reads the data from the airborne ultrasonic ranging sensor in real time. When the deviation of the measured distance from the initial measured distance used in step S30 exceeds a preset range, the flight controller corrects the telescopic boom length and angle parameters in real time according to the deviation to compensate for the distance changes caused by the undulation of the curtain wall surface in the flight path, ensuring that the water outlet always maintains a constant distance from the target working plane. When the flight controller detects that the UAV has traversed all waypoints in the path cache queue and the current waypoint is the last waypoint, it determines that the cleaning task is complete. The flight controller generates a task completion flag and sends a cleaning end command to the remote control module and the ground base station.

[0046] As an alternative implementation, during flight along the cleaning path, the flight controller inputs the target length, angle, and water pressure parameters into the feedforward-feedback composite control loop. The feedforward control branch pre-calculates the predicted correction values ​​for the telescopic boom length and angle parameters based on the positional deviation between the target waypoint and the current waypoint at the next moment, and adds these predicted correction values ​​to the target value in step S30, thus driving the telescopic boom and the first rotating component to move in advance, ensuring pre-adjustment before the UAV reaches the target waypoint. The feedback control branch, as described in the previous implementation, performs real-time correction based on the measured distance deviation. The feedforward branch solves the problem of nozzle attitude lagging behind the flight trajectory due to control lag, ensuring that the water outlet maintains precise alignment even in high-speed translational cleaning mode, thus improving the operational efficiency of large-area curtain wall cleaning.

[0047] For example, before starting a glass curtain wall cleaning operation, the operator selects the "coated glass" material type on the remote control's touchscreen and draws two parallel lines from the lower left to the upper right corner on the curtain wall outline displayed on the screen to define the boundary of the work area. Based on this, the remote control generates a zigzag cleaning path consisting of twelve horizontal flight paths and eleven reversing flight paths. After the operator clicks the "Start Execution" button, the remote control sends the material code and path waypoint sequence to the drone. After receiving the data, the drone's flight controller first drives the fuselage from the current takeoff point to the left end of the first horizontal flight path and hovers stably. After hovering stably, the flight controller uses "coated glass" as an index to query the internal mapping table and reads the preset working interval as 0.25 meters and the effective cleaning spray distance threshold as 0.9 meters. At this point, the airborne ultrasonic sensor measured a distance of 0.75 meters between the drone and the glass curtain wall. Based on the geometric constraints of a total arm length of 0.75 meters, an operating gap of 0.25 meters, and a spray distance threshold of 0.9 meters, the flight controller simultaneously solved for and selected a 0.35-meter extension of the telescopic boom and a 5-degree deflection of the first rotating component as target parameters. This ensured that the water outlet maintained a 0.25-meter gap with the curtain wall and the actual spray distance was 0.7 meters, less than the effective threshold of 0.9 meters. Simultaneously, based on the impact force threshold corresponding to the coated glass and the spray distance of 0.7 meters, the flight controller calculated the minimum required water pressure to be 6 MPa. After considering the power consumption required for the rotor to counteract the reaction force, the final water pressure parameter was determined to be 6.5 MPa. Subsequently, the flight controller sequentially drove the drone along twelve horizontal flight paths, maintaining a 0.35-meter extension of the telescopic boom and a 5-degree deflection of the nozzle in each horizontal flight path, while controlling the ground base station to maintain a continuous spray of 6.5 MPa water pressure. In the turnaround sections between adjacent horizontal flight paths, the drone only changed its horizontal position without spraying. After traversing all waypoints, the drone automatically hovers and sends a completion signal, allowing the operator to confirm the cleaning task is finished via the remote control screen.

[0048] This embodiment uses the curtain wall material type as the index condition for matching cleaning parameters, the relative distance between the starting point and the target working plane as the spatial constraint for calculating the angles of the telescopic rod and nozzle, and the cleaning parameters as the basis for determining water pressure. By uniformly applying these structural and water pressure parameters to the cleaning task execution process, a complete control closed loop is achieved, from material perception to parameter calculation and task execution. This method enables precise quantitative matching between the extension length of the telescopic rod, the spray angle of the nozzle, and the water pressure output with the specific working scenario. It overcomes the technical shortcomings of existing open-source control schemes, where independent parameter settings for each subsystem and a lack of coordinated optimization lead to high overall power consumption. This achieves system-level energy efficiency improvement while ensuring cleaning effectiveness.

[0049] Based on any of the above embodiments, in Embodiment 2 of this application, determining the length parameter of the telescopic rod and the angle parameter of the first rotating component according to the cleaning parameters corresponding to the curtain wall material type and the relative distance between the starting point and the target working plane includes: Step S31: Obtain the measured distance between the drone body and the target working plane at the starting point, as collected by the airborne distance sensor of the cleaning drone.

[0050] In this embodiment, the airborne distance sensor is a laser rangefinder or ultrasonic rangefinder installed on the side of the UAV body facing the target working plane. Its real-time measurement value represents the straight-line distance between the sensor's transmitting end and the reflection point of the target working plane. The UAV body refers to the main fuselage structure excluding the telescopic boom and cleaning nozzle. The measured distance refers to the current distance measurement value read by the flight controller from the data register of the airborne distance sensor after the UAV has hovered and stabilized at the starting point described in step S20.

[0051] As an optional implementation, after determining that the UAV has entered the hovering state at the starting point, the flight controller continuously reads the measurement values ​​from the onboard distance sensor at a preset sampling frequency and stores the continuously read measurement values ​​in a cache array. The flight controller performs median filtering on the measurement values ​​in the cache array to remove outliers caused by environmental noise or local protrusions on the curtain wall surface. It then calculates the arithmetic mean of the remaining measurement values ​​and stores this arithmetic mean as the measured distance in the flight controller's random access memory, marking the data as valid for subsequent steps. If the number of valid measurement values ​​after median filtering is less than a preset threshold, the flight controller re-acquires data until the threshold condition is met.

[0052] Step S32: Based on the curtain wall material type, obtain the corresponding preset working gap and effective cleaning spray distance threshold.

[0053] In this embodiment, the preset working gap refers to the safe distance that should be maintained between the end of the cleaning nozzle outlet and the target working plane. The effective cleaning spray distance threshold refers to the upper limit of the actual flight path length of the water flow from the outlet to the target working plane. When the actual flight path length exceeds this upper limit, the water flow impact force decreases to below the lower limit of the effective cleaning capacity.

[0054] As an optional implementation, the flight controller uses the material code stored in the memory register in step S10 as the index key to query the material parameter mapping table pre-installed in the flight controller's non-volatile memory. Each entry in this mapping table includes a material code field, a preset working gap field, and an effective cleaning spray distance threshold field. The flight controller reads the preset working gap value and the effective cleaning spray distance threshold corresponding to the current material type based on the matched entry and stores them respectively in the corresponding variable registers.

[0055] Step S33: Using the measured distance as a constraint, a joint calculation model for the length of the telescopic rod and the angle of the first rotating component is constructed to solve for the length parameter and the angle parameter. The joint calculation model satisfies the preset working gap as a position constraint, the angle between the water flow axis of the outlet and the normal of the target working plane entering the allowable angle range corresponding to the effective cleaning spray distance threshold as an attitude constraint, and the optimization objective is to minimize the estimated power consumption of the entire cleaning drone in the hovering cleaning state. The target length parameter of the telescopic rod and the target angle parameter of the first rotating component are output. The estimated power consumption of the entire machine is determined at least based on the horizontal component force generated by the rotor to maintain the first angle, the center of gravity offset moment of the telescopic rod at the current extension length, and the estimated power consumption of the ground base station under the corresponding water pressure.

[0056] In this embodiment, the joint solution model refers to a mathematical solution model framed by multiple constraints and a single optimization objective. The positional constraint requires that the normal distance between the outlet end and the target working plane equal to a preset working gap. The attitude constraint requires that the angle between the water jet direction at the outlet and the normal to the target working plane be less than or equal to a preset maximum deflection angle, which is determined through a geometric mapping relationship based on an effective cleaning jet distance threshold. The permissible angle range refers to the angle range with the target working plane normal as the reference and the preset maximum deflection angle as half the width. The estimated power consumption of the entire unit refers to the estimated total power consumption required for the UAV to maintain its current attitude and position while hovering and cleaning.

[0057] As an optional implementation, the flight controller reads the measured distance from the random access memory and the preset working gap and effective cleaning spray distance threshold from the variable register. The flight controller denotes the telescopic boom length as variable x and the first rotating component angle as variable θ, establishing the following set of geometric constraint equations. The normal distance between the outlet end and the target working plane is determined by the measured distance, the telescopic boom length, and the first rotating component angle, and must be equal to the preset working gap, serving as a positional constraint. The angle between the outlet water flow axis and the normal to the target working plane is determined by the first rotating component angle and the current attitude angle of the UAV. This angle must be less than or equal to the preset maximum deflection angle, which is determined by solving the following equation: when the spray distance equals the effective cleaning spray distance threshold, the geometric relationship between the actual flight path length of the water flow from the outlet to the target working plane and the normal distance determines the allowable maximum deflection angle. The flight controller uses this set of geometric constraint equations as the boundary of the feasible region, discretizing and sampling variables x and θ within the feasible region to generate several candidate parameter combinations.

[0058] As an optional implementation, the flight controller calculates the estimated power consumption of the entire aircraft for each candidate parameter combination. The estimated power consumption is calculated as follows: Based on the current first rotor angle value and the candidate telescopic boom length x, the flight controller calculates the pitch moment increment caused by the center of gravity shift due to the extension of the telescopic boom. This pitch moment increment is equal to the mass of the telescopic boom multiplied by the gravitational acceleration multiplied by the horizontal distance of the center of gravity shift. Based on a preset rotor thrust-power consumption mapping curve, the flight controller calculates the thrust increment required to offset this pitch moment increment and the corresponding power consumption increment, obtaining the power consumption component corresponding to the center of gravity shift moment. Based on the candidate first rotating component angle θ and preset water pressure parameters, the flight controller calculates the reaction force vector of the water jet along the jet direction, and decomposes this reaction force vector into horizontal and vertical components. Based on the rotor thrust-power consumption mapping curve, the flight controller calculates the thrust power consumption required to offset the horizontal and vertical components, obtaining the power consumption component corresponding to the horizontal component. The flight controller calculates the input electrical power of the variable frequency pump under the current water pressure based on the preset efficiency curve and water pressure parameters of the ground base station water pump, thus obtaining the estimated power consumption component of the ground base station. The flight controller then weights and sums these three power consumption components to obtain the estimated power consumption of the entire aircraft for this candidate parameter combination. The flight controller iterates through all candidate parameter combinations, selects the telescopic boom length value corresponding to the minimum estimated power consumption of the entire aircraft as the target length parameter, and the corresponding first rotating component angle value as the target angle parameter, and writes them into the registers of the telescopic boom electric push rod drive circuit and the first rotating component servo drive circuit, respectively.

[0059] As an alternative implementation, instead of using a discretized traversal approach, the flight controller establishes a set of geometric constraint equations and then simultaneously solves the position constraint equations and attitude constraint inequalities to analytically solve for the boundary expressions of the analytical feasible region for variables x and θ that satisfy all constraints. The flight controller then uses the overall estimated power consumption function as the objective function, expressing the power consumption component of the center of gravity offset moment as a monotonically increasing function of x, the power consumption component of the horizontal force as a monotonically increasing function of θ, and the estimated power consumption component of the ground base station within a preset water pressure range as a constant term independent of x and θ. Based on the above monotonicity analysis, the flight controller reduces the multivariate optimization problem to finding the boundary point on the boundary of the analytical feasible region that minimizes the sum of the power consumption components of the center of gravity offset moment and the horizontal force, and directly calculates the x and θ values ​​corresponding to the optimal boundary point using differentiation. Compared to the discrete traversal approach, this implementation directly obtains the analytical optimal solution without enumerating candidate combinations, significantly reducing the online computation time of the flight controller and making it suitable for scenarios where the computing power of airborne embedded processors is limited.

[0060] For example, after the flight controller hovers and stabilizes at the starting point, it reads the measured distance of 0.75 meters from the median-filtered cache array. The flight controller then queries the mapping table using the material code to obtain the preset working gap of 0.25 meters and the effective cleaning spray distance threshold of 0.9 meters for the current coated glass. The flight controller substitutes the telescopic boom length variable x and the first rotating component angle variable θ into the geometric constraint equations. The position constraint requires that the normal distance between the outlet end and the curtain wall be equal to 0.25 meters. The measured distance of 0.75 meters minus the projected length of the telescopic boom extending in the normal direction equals 0.25 meters, i.e., x·cosθ equals 0.50 meters. The attitude constraint requires that the angle θ between the water flow axis and the curtain wall normal be less than or equal to the maximum deflection angle, which is approximately 73.9 degrees obtained by inverse cosine calculation from the effective cleaning spray distance threshold of 0.9 meters and the normal distance of 0.25 meters. Under the constraint that x·cosθ equals 0.50 meters, the flight controller performs discrete sampling on θ from 0 degrees to 73.9 degrees, and calculates the estimated power consumption of the entire aircraft at each sampling point. When θ is 0 degrees and x is 0.50 meters, the power consumption component of the center of gravity offset moment is 45 watts due to the longer telescopic boom. When θ is 30 degrees and x is approximately 0.577 meters, the telescopic boom is further extended, and the power consumption component of the center of gravity offset moment increases to 58 watts. However, the power consumption component of the horizontal force decreases from 0 watts to 22 watts, corresponding to the smaller horizontal reaction force generated by the tilted jet. The power consumption component of the ground base station remains constant at 180 watts, and the estimated power consumption of the entire aircraft is 260 watts. When θ is 45 degrees and x is 0.707 meters, the power consumption component of the center of gravity offset moment is 72 watts, and the power consumption component of the horizontal force is 18 watts because the jet direction is closer to the normal direction. The estimated power consumption of the entire aircraft is 270 watts. The flight controller selects the values ​​of θ=30 degrees and x=0.577 meters, which minimize the estimated power consumption of the entire aircraft, as the target parameter output. After traversing all candidate combinations, the flight controller finally sends the target length parameter of 0.577 meters to the telescopic boom electric actuator drive circuit and the target angle parameter of 30 degrees to the first rotating component servo drive circuit.

[0061] This embodiment obtains the measured distance between the UAV body and the target working plane measured by the airborne distance sensor at the starting point. Using this measured distance as the total arm length constraint, and combining the preset working gap corresponding to the curtain wall material type and the effective cleaning spray distance threshold, a joint solution model is constructed with position constraints and attitude constraints as boundary conditions and the minimum estimated power consumption of the whole machine as the optimization objective. Compared to existing technologies that use only fixed telescopic length and fixed jet angle for cleaning, this embodiment establishes a geometric coupling relationship between the telescopic rod length and the rotation component angle, and solves the problem as a joint variable within the same optimization framework. This solves the technical challenge of simultaneously satisfying positional safety and jet efficiency when the length and angle are determined independently. By decomposing the estimated power consumption of the entire machine into three components—rotor horizontal force power consumption, center of gravity offset torque power consumption, and ground base station power consumption—and comprehensively optimizing them, the target parameter combination can balance flight stability and overall energy efficiency. This avoids the defects of excessive jet angle due to unilaterally pursuing shorter telescopic rods, which increases the horizontal thrust burden on the rotor, and also avoids the defects of excessively long telescopic rods due to unilaterally pursuing vertical jetting, which increases the center of gravity offset torque burden. This achieves globally optimal parameter tuning under multi-physics coupling conditions.

[0062] Based on any of the above embodiments, in Embodiment 3 of this application, determining the water pressure parameters of the ground base station according to the cleaning parameters includes: Step S41: Obtain the cleaning impact force threshold corresponding to the curtain wall material type.

[0063] In this embodiment, the cleaning impact force threshold refers to the minimum impact force required to effectively remove stains from the surface of the material when water is incident perpendicularly on the target working plane, expressed as the force per unit area.

[0064] Optionally, the flight controller uses the material code stored in the memory register as the index key to query a material impact force mapping table pre-installed in the flight controller's non-volatile memory. Each entry in this mapping table contains a material code field and a cleaning impact force threshold field. The flight controller reads the cleaning impact force threshold corresponding to the current material type based on the matched entry and stores the threshold in a variable register for subsequent steps.

[0065] Step S42: Obtain the target travel speed corresponding to the cleaning path.

[0066] In this embodiment, the target travel speed refers to the horizontal movement rate set by the flight controller when the UAV flies along the work section in the cleaning path.

[0067] Optionally, the flight controller reads the starting and ending waypoint coordinates of the current task segment from the path buffer queue, calculates the horizontal distance between the two points, and divides this horizontal distance by the preset task segment flight duration to obtain the target speed. The flight controller then stores this target speed in a variable register.

[0068] Step S43: Based on the cleaning impact force threshold and the target travel speed, the water pressure-velocity matching model is invoked to determine the reference water pressure; the water pressure-velocity matching model is used to determine the negative correlation mapping relationship between the target travel speed and the reference water pressure output by the ground base station under the constraint that the water flow impact force sprayed from the outlet to the target working plane is not lower than the cleaning impact force threshold.

[0069] In this embodiment, the water pressure-velocity matching model is a function mapping relationship pre-stored in the non-volatile memory of the flight controller. Its input is the target travel speed, and its output is the reference water pressure. This model is calibrated based on the following physical law: when the UAV moves horizontally along the curtain wall surface, the water jet from the outlet has a tangential velocity component in the horizontal direction relative to the target working plane. This tangential velocity component increases with the UAV's travel speed, generating an additional tangential scouring effect on the stains on the curtain wall surface. Therefore, to achieve the same effective cleaning effect, the required vertical incident impact force can decrease with increasing travel speed, thus corresponding to a lower reference water pressure; that is, there is a negative correlation between travel speed and reference water pressure.

[0070] The flight controller reads the cleaning impact force threshold and the target travel speed from the variable register. It then inputs the target travel speed into the water pressure-velocity matching model. The model's calibration process involves pre-obtaining multiple sets of data points on travel speed and the required minimum water pressure through experiments, and fitting these data points to obtain a velocity-water pressure mapping curve. The flight controller performs linear interpolation on the mapping curve based on the target travel speed to obtain the reference water pressure value corresponding to the point where the end-point impact force equals the cleaning impact force threshold at that travel speed. The flight controller stores this reference water pressure value in the variable register.

[0071] Step S44: Using the reference water pressure as the lower limit constraint, within the preset water pressure adjustment range, the joint optimization model for water pressure reaction force power consumption is invoked. The joint optimization model uses the cleaning impact force corresponding to the reference water pressure as the lower limit constraint, and uses the sum of the estimated thrust power consumption required by the rotor at the first angle to offset the reaction force generated by different water pressures and the estimated pumping power consumption of the ground base station at the corresponding water pressure as the objective function to solve for the water pressure parameters that minimize the total cleaning-related power consumption.

[0072] In this embodiment, the joint optimization model for water pressure reaction force power consumption is a single-objective optimization model with water pressure as the independent variable and total cleaning-related power consumption as the dependent variable. The reaction force refers to the force exerted on the UAV body by the water flow in the opposite direction of the spray direction when cleaning fluid is sprayed from the nozzle. The estimated thrust power consumption refers to the additional power consumed by the rotor to counteract the horizontal and vertical components of this reaction force. The estimated pumping power consumption refers to the electrical power consumed by the ground base station's frequency converter pump to deliver cleaning fluid to the outlet under the current water pressure. The water pressure regulation range refers to the continuous range from the reference water pressure to the preset maximum allowable water pressure.

[0073] Optionally, the flight controller reads a reference water pressure value from a variable register. The flight controller constructs a water pressure regulation range with the reference water pressure value as the lower limit of the range and a preset maximum allowable water pressure value as the upper limit of the range. At the lower limit of the range, the terminal impact force equals the cleaning impact force threshold, meeting the minimum requirements for cleaning quality; the upper limit of the range is jointly determined by the pipeline pressure resistance limit and the structural strength of the UAV.

[0074] The flight controller discretizes the water pressure variable P within the water pressure regulation range, generating several candidate water pressure values. For each candidate water pressure value, the flight controller performs the following calculations. First, the flight controller calculates the initial jet velocity at the outlet under that water pressure according to Bernoulli's equation, and calculates the reaction force vector of the water flow on the UAV based on the angle between the jet direction and the horizontal plane. The magnitude of this reaction force vector is positively correlated with the water pressure value, and its direction is in the opposite direction to the jet direction. The flight controller decomposes this reaction force vector into horizontal and vertical components. Subsequently, based on a preset rotor thrust-power consumption mapping curve, the flight controller calculates the thrust increment required to offset the horizontal and vertical components, respectively, and adds the power consumption corresponding to the two thrust increments to obtain the estimated thrust power consumption. Simultaneously, the flight controller calculates the input electrical power corresponding to the candidate water pressure value based on the efficiency curve of the ground base station's frequency converter water pump, obtaining the estimated pumping power consumption. The flight controller adds the estimated thrust power consumption to the estimated pumping power consumption as the total cleaning-related power consumption corresponding to the candidate water pressure value.

[0075] After traversing all candidate water pressure values, the flight controller selects the water pressure value with the lowest total power consumption related to cleaning as the target water pressure parameter. The flight controller then transmits this target water pressure parameter to the ground base station via a wireless communication link, where it is written into the register of the variable frequency water pump driver. This target water pressure parameter must be greater than or equal to the reference water pressure value, thus ensuring that the final impact force is not lower than the cleaning impact force threshold and that the cleaning quality is not reduced due to power consumption optimization.

[0076] As an alternative implementation, the flight controller does not employ a discretized traversal approach to solve the problem. Instead, it directly optimizes based on the analytical expression of the objective function. The flight controller pre-calibrates, through experiments, the linear relationship between the reaction force amplitude and the water pressure value: F_reaction = k1·P, where k1 is a calibration coefficient. Simultaneously, it calibrates the quadratic relationship between the estimated thrust power consumption and the reaction force amplitude: P_thrust = k2·F_reaction² = k2·k1²·P², and the linear relationship between the estimated pumping power consumption and the water pressure value: P_pump = k3·P + k4, where k2, k3, and k4 are calibration coefficients. The flight controller substitutes these relationships into the objective function to obtain the quadratic expression for the total cleaning-related power consumption with respect to the water pressure P: P_total(P) = k2·k1²·P² + k3·P + k4. The flight controller differentiates the quadratic function within the interval [P_base, P_max] and sets the derivative to zero, calculating the stationary point P* = -k3 / (2·k2·k1²). If P falls within the interval [P_base, P_max], then P is determined to be the optimal water pressure value; if P is less than the reference water pressure P_base, then the reference water pressure P_base is determined to be the optimal value; if P is greater than the maximum allowable water pressure P_max, then the maximum allowable water pressure P_max is determined to be the optimal value. This implementation replaces discrete traversal with analytical differentiation, simplifying the model solution process to single-variable stationary point judgment, eliminating the need for iterative calculation of each candidate value, significantly reducing the online computational overhead of the flight controller, and making it suitable for dynamic operating conditions requiring real-time response.

[0077] For example, the flight controller queries the impact force mapping table using the material code to obtain the cleaning impact force threshold of 200 Newtons per square meter corresponding to the current curtain wall material. The flight controller reads the horizontal distance between the start and end points of the current work segment from the path cache queue as 5 meters, divides it by the preset work duration of 10 seconds, and obtains the target travel speed of 0.5 meters per second. The flight controller substitutes this speed into the pre-calibrated speed-water pressure mapping curve and interpolates it to obtain the corresponding reference water pressure of 5.0 MPa. The flight controller uses 5.0 MPa as the lower limit of the interval and 8.0 MPa, corresponding to the pipeline pressure resistance limit, as the upper limit of the interval, to discretely sample the water pressure within the range of 5.0 to 8.0 MPa. When the sampled water pressure is 5.0 MPa, the reaction force amplitude is 12 N, the thrust power consumption is 15 W, the pumping power consumption is 180 W, and the total power consumption is 195 W; when the sampled water pressure is 6.0 MPa, the reaction force amplitude is 15 N, the thrust power consumption is 23 W, the pumping power consumption is 200 W, and the total power consumption is 223 W; when the sampled water pressure is 7.0 MPa, the reaction force amplitude is 18 N, the thrust power consumption is 33 W, the pumping power consumption is 225 W, and the total power consumption is 258 W. After traversing all sampled values, the flight controller selects 5.0 MPa, which has the lowest total power consumption, as the target water pressure parameter and sends this value to the ground base station's frequency converter pump driver.

[0078] This embodiment obtains the cleaning impact force threshold corresponding to the curtain wall material type and the target travel speed corresponding to the cleaning path, and calls the water pressure-velocity matching model to determine the benchmark water pressure to ensure cleaning quality, realizing feedforward compensation of travel speed on water pressure requirements. On this basis, using the benchmark water pressure as the optimization lower limit, the water pressure reaction force power consumption joint optimization model is called to balance and optimize between thrust power consumption and pumping power consumption. Compared with the existing technology where the water pressure is fixed or only manually adjusted, this embodiment expands the water pressure parameter from a single cleaning quality constraint problem to an overall energy efficiency optimization problem under the cleaning quality constraint. Under the premise of ensuring that the terminal impact force is not lower than the cleaning impact force threshold, the influence of the reaction force on the rotor thrust power consumption is quantified and jointly optimized with the ground base station pumping power consumption. This effectively avoids the energy efficiency loss caused by excessive reaction force due to excessive water pressure, which forces the rotor to significantly increase thrust power consumption. It also avoids the defect of substandard cleaning quality caused by unilaterally reducing water pressure to reduce reaction force. This achieves synergistic optimization of cleaning quality and overall energy efficiency.

[0079] Based on any of the above embodiments, in Embodiment 4 of this application, the cleaning drone is controlled according to the length parameter, the angle parameter, and the cleaning path, and the ground base station is controlled according to the water pressure parameter to perform a cleaning task on the target work plane, including: Step S51: Discretize the cleaning path into a path sequence consisting of alternating work segments and turnaround segments.

[0080] In this embodiment, a work segment refers to the translational flight segment in which the UAV sprays cleaning fluid along the cleaning path, and a turnaround segment refers to the transitional flight segment in which the UAV moves from the end of the current work segment to the start of the next adjacent work segment. A path sequence refers to an ordered set of all segments in the cleaning path arranged in the order of their flight.

[0081] Optionally, the flight controller reads the coordinates of all waypoints included in the cleaning path from the path cache queue and marks each waypoint sequentially according to the storage order. The flight controller calculates the direction of the line connecting adjacent waypoints and compares the azimuth angle of the current segment with that of the previous segment. When the change in azimuth angle is greater than a preset azimuth angle change threshold, the flight controller determines that the current segment is a turnaround segment and the previous segment is a work segment; when the change in azimuth angle is less than or equal to the preset azimuth angle change threshold, the flight controller determines that the current segment and the previous segment belong to the same work segment. After traversing all waypoints, the flight controller divides the cleaning path into a path sequence with work segment start, work segment end, and work segment and turnaround segment alternating. Each work segment and each turnaround segment contains the corresponding start and end waypoint coordinates. The flight controller stores the segmented path sequence in the path cache queue and adds a segment type label to each segment, including a work segment label and a turnaround segment label.

[0082] Step S52: If the operation is in the working segment, control the telescopic rod to extend to the target length corresponding to the length parameter, control the first rotating component to adjust to the target angle corresponding to the angle parameter, and control the ground base station to output the target water pressure corresponding to the water pressure parameter to perform the cleaning task.

[0083] Optionally, the flight controller sequentially extracts the current flight segment from the path sequence segmented in step S51 and reads the segment type label of the current flight segment. If the segment type label is a work segment label, the flight controller determines that it is currently in a work segment.

[0084] The flight controller reads the target length parameter determined in step S30 from the first register, converts this target length parameter into the number of drive pulses for the telescopic boom electric actuator, and outputs it to the electric actuator drive circuit via pulse width modulation signal. This drives the telescopic boom sleeve to extend until the deviation between the actual extension length and the target length parameter is less than a preset length tolerance. The flight controller reads the target angle parameter determined in step S30 from the second register, converts this target angle parameter into the duty cycle signal for the first rotating component servo, and outputs it to the servo drive circuit. This drives the nozzle mount to rotate until the deviation between the actual angle and the target angle parameter is less than a preset angle tolerance. The flight controller reads the target water pressure parameter determined in step S40 from the third register, encodes this target water pressure parameter into a water pressure setpoint data frame, and sends it to the variable frequency water pump driver at the ground base station via a wireless communication link. The variable frequency water pump adjusts the output water pressure to the target value according to the received setpoint. After confirming that the telescopic boom is fully extended, the nozzle angle is adjusted, and the water pressure has stabilized according to the ground base station, the flight controller sends an opening signal to the solenoid valve at the outlet. The cleaning fluid is then sprayed from the nozzle onto the target working plane. The UAV flies forward along the current working section waypoint at the target speed to perform the cleaning task.

[0085] Step S53: If the device is in the reversal section, control the telescopic rod to retract to its minimum length, control the first rotating component to reset to the storage angle, and close the water outlet to reduce the power consumption of the reversal.

[0086] In this embodiment, the minimum length refers to the axial length of each section of the telescopic boom when fully retracted, determined by the mechanical structure of the telescopic boom. The retraction angle refers to the preset deflection angle of the water outlet against the bottom of the UAV fuselage when not performing a cleaning task, ensuring that the outlet axis is parallel or coincident with the UAV's vertical axis. The turnaround power consumption refers to the additional thrust power consumed by the UAV during the turnaround phase when the telescopic boom is extended due to increased wind resistance and rotational inertia.

[0087] Optionally, the flight controller reads the segment type label of the current flight segment. If the segment type label is a turnaround segment label, the flight controller determines that it is currently in a turnaround segment. The flight controller forces the target length parameter of the telescopic boom to the minimum length value, generates a corresponding electric push rod retraction drive pulse, and outputs it to the electric push rod drive circuit through a pulse width modulation signal to drive the telescopic boom sleeve to retract section by section until each section of the sleeve is fully retracted. The flight controller forces the target angle parameter of the first rotating component to the preset retraction angle value, generates a corresponding servo duty cycle signal, and outputs it to the servo drive circuit to drive the nozzle seat to deflect until the outlet axis is parallel to or coincides with the vertical axis of the UAV. The flight controller sends a closing signal to the solenoid valve of the outlet to cut off the cleaning fluid supply line. After the telescopic boom is retracted and the nozzle is reset, the flight controller drives the UAV to fly along the current turnaround segment waypoint at a turnaround speed greater than the target travel speed to the starting point of the next work segment.

[0088] As an alternative implementation, the flight controller does not fully retract the telescopic boom to its minimum length during the turnaround segment. Instead, it dynamically calculates the retraction ratio based on the length of the turnaround segment and the turnaround speed. The flight controller obtains the horizontal length of the current turnaround segment and the allowable turnaround flight time, and calculates the required turnaround speed. The flight controller determines the target retraction value of the telescopic boom based on the comparison between the turnaround speed and a preset speed threshold: when the turnaround speed is less than a first speed threshold, the flight controller determines that the wind resistance impact is small and retracts the telescopic boom to its minimum length; when the turnaround speed is greater than or equal to the first speed threshold and less than a second speed threshold, the flight controller determines that a rapid response for the next work segment needs to be considered, and retracts the telescopic boom to an intermediate value between the minimum length and the target length, which is calculated by multiplying the ratio of the turnaround speed to the target travel speed by the target length; when the turnaround speed is greater than or equal to the second speed threshold, the flight controller determines that the wind resistance impact is significant and fully retracts the telescopic boom to its minimum length. In scenarios with short-distance reversals and low reversal speeds, this implementation method reduces the time and energy consumption required for the next work section to re-extend by incompletely retracting the telescopic boom, while controlling the additional thrust power consumption caused by increased wind resistance, thus achieving a balance between reversal response speed and reversal power consumption.

[0089] For example, the flight controller reads the coordinates of all waypoints included in the cleaning path from the path cache queue, calculates the azimuth angles of adjacent waypoints, and uses a change in azimuth angle greater than 15 degrees as the criterion for a turnaround segment, dividing the path into an alternating sequence of work segment-turnaround segment-work segment-turnaround segment-work segment. When the current segment is the first work segment, the flight controller converts the 0.577-meter length parameter determined in step S30 into an electric actuator drive pulse, driving the telescopic rod to extend to 0.577 meters; it converts the 30-degree angle parameter determined in step S30 into a servo duty cycle, driving the nozzle mount to deflect to 30 degrees; and it encodes the 5.0 MPa water pressure parameter determined in step S40 into a data frame and sends it to the ground base station. After the base station reports that the water pressure has stabilized, it opens the solenoid valve, and the UAV flies along the first work segment at a speed of 0.5 meters per second and sprays cleaning fluid to continuously remove stains from the curtain wall surface. After the first operational segment concludes, the current flight path switches to the first turnaround segment. The flight controller sends a retraction drive pulse to the electric actuator to retract the telescopic boom to its minimum length of 0.15 meters, sends a reset duty cycle to the servo motor to deflect the nozzle mount to a 0-degree retracted angle, and sends a shut-off signal to the solenoid valve to cut off the cleaning fluid supply. The drone then flies along the first turnaround segment at a speed of 2 meters per second to the starting point of the second operational segment. The turnaround segment is 3 meters long and takes approximately 1.5 seconds. During the turnaround, the telescopic boom remains retracted, reducing the drag area by approximately 70% and correspondingly reducing thrust power consumption by approximately 55%. Upon reaching the starting point of the second operational segment, the flight controller again drives the telescopic boom to extend to 0.577 meters, deflects the nozzle mount to 30 degrees, opens the solenoid valve, and maintains a water pressure of 5.0 MPa to continue the cleaning task.

[0090] This embodiment discretizes the cleaning path into a sequence of alternating work and turnaround sections, and executes differentiated actuator control strategies based on section type identification. Compared to existing technologies where the UAV maintains a constant extension length of the telescopic boom and a constant deflection angle of the nozzle throughout the cleaning process, this embodiment actively controls the telescopic boom to retract to its minimum length, the first rotating component to reset to its retracted angle, and the outlet to close during the turnaround section when cleaning is not required. This significantly reduces the wind resistance area and rotational inertia during the turnaround flight, and reduces the aerodynamic drag power consumption caused by the extension of the telescopic boom and the yaw control power consumption caused by the extension of the nozzle. At the same time, closing the outlet avoids waste caused by the spraying of cleaning fluid in non-work sections and secondary pollution to the cleaned area. Through differentiated control of the work and turnaround sections, precise matching between the actuator state and flight conditions is achieved, effectively reducing the overall power consumption of the entire process and extending the single-operation endurance while ensuring that the cleaning quality is not affected.

[0091] Based on any of the above embodiments, in Embodiment 5 of this application, after controlling the cleaning drone according to the length parameter, the angle parameter, and the cleaning path, and controlling the ground base station according to the water pressure parameter to perform a cleaning task on the target work plane, the process includes: Step S60: Obtain the real-time roll angle and real-time pitch angle of the cleaning drone relative to the horizontal plane.

[0092] In this embodiment, the real-time roll angle refers to the real-time deflection angle of the UAV's roll axis relative to the horizontal plane, and the real-time pitch angle refers to the real-time deflection angle of the UAV's pitch axis relative to the horizontal plane. The real-time roll angle and real-time pitch angle are calculated from the gyroscope and accelerometer data in the onboard inertial measurement unit using an attitude fusion algorithm.

[0093] Optionally, the flight controller reads triaxial acceleration and triaxial angular velocity data from the data register of the inertial measurement unit at a preset sampling frequency. The flight controller inputs the read acceleration and angular velocity data into an extended Kalman filter. This filter uses the direction of gravitational acceleration as a reference, fusing the absolute horizontal reference information provided by the accelerometer in a stationary state and the short-time, high-precision angular velocity integral information provided by the gyroscope in a dynamic state. After two iterations of prediction and update, it outputs the real-time roll and pitch angle values ​​of the UAV at the current moment. The flight controller stores the calculated real-time roll and pitch angle values ​​into the corresponding variable registers.

[0094] Step S61: Calculate the instantaneous attitude offset of the cleaning drone based on the real-time roll angle and the real-time pitch angle.

[0095] In this embodiment, the instantaneous attitude offset represents the overall deviation of the UAV's current attitude from the horizontal no-offset reference attitude, and is expressed in scalar form.

[0096] Optionally, the flight controller reads the real-time roll angle value φ and the real-time pitch angle value γ from the variable register. The flight controller calls a preset instantaneous attitude offset calculation function, which squares the real-time roll angle value and the real-time pitch angle value respectively, sums the two squared values, and takes the square root to obtain the instantaneous attitude offset D_offset. D_offset=√(φ²+γ²); The flight controller stores the calculated instantaneous attitude offset D_offset into a variable register.

[0097] Step S62: Determine whether the instantaneous attitude offset exceeds a preset attitude offset tolerance threshold.

[0098] In this embodiment, the attitude deviation tolerance threshold refers to the maximum instantaneous attitude deviation that the UAV is allowed to make during the cleaning operation, which is preset. When the attitude deviation exceeds the threshold, the UAV is determined to be subjected to significant external disturbance.

[0099] Optionally, the flight controller reads the instantaneous attitude offset D_offset from the variable register and reads the preset attitude offset tolerance threshold D_threshold from the non-volatile memory. The flight controller compares D_offset with D_threshold. If D_offset is greater than D_threshold, the flight controller generates an attitude over-limit flag and sets it to an active state, which triggers the subsequent depressurization adjustment process; if D_offset is less than or equal to D_threshold, the flight controller determines that the current attitude offset is within the tolerance range, maintains the current water pressure parameter unchanged, does not trigger the subsequent depressurization adjustment process, and continues to execute the attitude acquisition loop in step S60.

[0100] Step S63: If the value exceeds the limit, estimate the additional power consumption for attitude maintenance corresponding to the current attitude offset based on the instantaneous attitude offset.

[0101] In this embodiment, the additional power consumption for attitude maintenance refers to the additional thrust power consumed by the UAV to resist external disturbances, restore its attitude from the current offset state, and maintain it near the target attitude.

[0102] Optionally, after detecting that the attitude over-limit flag is active, the flight controller reads the instantaneous attitude offset D_offset from the variable register and the attitude offset tolerance threshold D_threshold from the non-volatile memory. The flight controller calculates the offset over-limit ΔD = D_offset - D_threshold. The flight controller calls a pre-calibrated additional power consumption mapping function, which is obtained by fitting experimental data on the thrust increment and power consumption increment required for the rotor to recover a horizontal attitude under different offset over-limits. The flight controller substitutes the offset over-limit ΔD as input into the mapping function, and outputs the attitude maintenance additional power consumption value P_attitude after function calculation. The flight controller stores P_attitude in the variable register.

[0103] Step S64: Based on the water pressure parameters, within the pressure reduction optimization range formed by the allowable lower limit of water pressure determined by the cleaning impact force threshold corresponding to the curtain wall material type and the current water pressure parameters, the target water pressure parameters after dynamic adjustment are calculated with the sum of the additional power consumption for maintaining the attitude and the estimated pumping power consumption of the ground base station as the optimization target.

[0104] In this embodiment, the pressure reduction optimization range refers to the feasible adjustment range of the water pressure parameter. Its lower limit is the allowable lower limit of water pressure determined by the cleaning impact force threshold, and its upper limit is the current water pressure parameter. The allowable lower limit of water pressure refers to the minimum water pressure value corresponding to the water flow impact force sprayed from the outlet to the target working plane being equal to the cleaning impact force threshold. The dynamically adjusted target water pressure parameter refers to the water pressure value that minimizes the sum of the additional power consumption for attitude maintenance and the estimated pumping power consumption within the pressure reduction optimization range.

[0105] Optionally, the flight controller reads the current water pressure parameter P_current and the attitude maintenance additional power consumption P_attitude from the variable register. Based on the cleaning impact force threshold obtained in step S41, the flight controller calls the inverse function of the water pressure and end-point impact force conversion model in step S43, substitutes the cleaning impact force threshold into the inverse function, and calculates the allowable lower limit of water pressure P_min. The flight controller constructs the pressure reduction optimization interval [P_min, P_current] with P_min as the lower limit and P_current as the upper limit.

[0106] The flight controller discretizes the water pressure variable P within the depressurization optimization interval, generating several candidate depressurization water pressure values. For each candidate depressurization water pressure value P_candidate, the flight controller performs the following calculations. First, based on the efficiency curve of the ground base station's frequency converter water pump, the flight controller calculates the input electrical power corresponding to the candidate water pressure value, obtaining the estimated pumping power consumption P_pump(P_candidate). Then, based on the linear relationship between the reaction force amplitude and the water pressure value, the flight controller calculates the reaction force amplitude corresponding to the candidate water pressure value. Based on a preset rotor thrust-power consumption mapping curve, the flight controller calculates the thrust power consumption required to counteract the horizontal and vertical components of the reaction force. The flight controller adds the current attitude maintenance extra power consumption P_attitude to the thrust power consumption under the candidate water pressure value, obtaining the total thrust power consumption under that water pressure value. The flight controller adds this total thrust power consumption to the estimated pumping power consumption P_pump(P_candidate), obtaining the total power consumption corresponding to that candidate depressurization water pressure value. After iterating through all candidate depressurization water pressure values, the flight controller selects the water pressure value corresponding to the minimum total power consumption as the dynamically adjusted target water pressure parameter P_target. Since this target water pressure parameter is within the depressurization optimization range, it must be greater than or equal to the allowable lower limit of water pressure P_min and less than or equal to the current water pressure parameter P_current. This ensures that while reducing the water pressure to decrease the reaction force, the terminal impact force is not lower than the cleaning impact force threshold. The flight controller stores P_target in a variable register.

[0107] As an alternative implementation, the flight controller does not employ a discretized traversal method but instead directly calculates the optimal pressure drop value analytically. The flight controller pre-calibrates the linear relationship between attitude maintenance extra power consumption P_attitude and offset excess ΔD, P_attitude = k_a·ΔD, and the quadratic relationship between reaction thrust power consumption and water pressure value, P_thrust(P) = k_t·P². The flight controller expresses the total power consumption function as F(P) = k_t·P² + P_pump(P) + P_attitude, where P_pump(P) = k_p·P + k_p0 is the linear expression for pumping power consumption. The flight controller differentiates F(P) with respect to P and sets the derivative to zero to calculate the stagnation point P* = -k_p / (2·k_t). The flight controller compares P with the depressurization optimization interval [P_min, P_current]: if P falls within this interval, P is determined to be the optimal depressurization target value; if P is less than P_min, P_min is determined to be the optimal depressurization target value; if P* is greater than P_current, no depressurization is required, and the current water pressure parameter is maintained. This implementation method directly obtains the optimal water pressure value through analytical differentiation, without enumerating candidate values, reducing the computation time of the onboard processor and enabling a faster response to attitude disturbance changes.

[0108] Step S65: Control the ground base station to output according to the target water pressure parameters.

[0109] Optionally, the flight controller reads the dynamically adjusted target water pressure parameter P_target from the variable register. The flight controller encodes P_target into a water pressure setpoint data frame and sends it to the variable frequency water pump driver at the ground base station via a wireless communication link. After receiving the data frame, the variable frequency water pump driver updates the current water pressure setpoint to P_target and drives the variable frequency water pump to adjust the output water pressure from the current value P_current to P_target. The flight controller continuously receives the actual output water pressure value fed back by the ground base station. When the deviation between the feedback value and P_target is less than the preset water pressure tolerance and remains so for a preset time, the flight controller determines that the water pressure adjustment is complete, and then continues to execute the attitude acquisition loop of step S60 to obtain whether the adjusted attitude offset has fallen back to within the tolerance threshold.

[0110] For example, the flight controller reads triaxial data from the inertial measurement unit and processes it using an extended Kalman filter to obtain the current real-time roll angle of 18 degrees and the real-time pitch angle of 12 degrees. The flight controller calls the instantaneous attitude offset calculation function to obtain D_offset = √(18² + 12²) = 21.6 degrees. The flight controller reads the attitude offset tolerance threshold D_threshold as 15 degrees, determines that 21.6 degrees is greater than 15 degrees, generates an attitude over-limit flag and sets it to valid. The flight controller calculates the offset excess ΔD = 21.6 - 15 = 6.6 degrees, substitutes it into the additional power consumption mapping function, and obtains the attitude maintenance additional power consumption P_attitude as 85 watts. The flight controller back-calculates the allowable water pressure lower limit P_min as 4.2 MPa based on the cleaning impact force threshold of 200 N / m², and the current water pressure parameter P_current is 6.5 MPa, constructing a pressure reduction optimization interval of [4.2, 6.5] MPa. The flight controller performs discrete sampling within this range in steps of 0.1 MPa, calculating the pumping and thrust power consumption at each sampling point. At 4.2 MPa, the pumping power consumption is 155 watts, the reaction thrust power consumption is 35 watts, plus an additional 85 watts for attitude maintenance, for a total power consumption of 275 watts; at 4.8 MPa, the pumping power consumption is 170 watts, the reaction thrust power consumption is 42 watts, plus 85 watts, for a total power consumption of 297 watts; at 5.5 MPa, the pumping power consumption is 188 watts, the reaction thrust power consumption is 52 watts, plus 85 watts, for a total power consumption of 325 watts. The aircraft controller selects 4.2 MPa, the minimum total power consumption, as the dynamically adjusted target water pressure parameter and sends this value to the ground base station's frequency converter pump driver. The pump then reduces the output water pressure from 6.5 MPa to 4.2 MPa. As the water pressure decreases, the reaction force of the water flow decreases accordingly, and the attitude deviation of the UAV gradually decreases. The flight controller continues to acquire data until the real-time roll angle drops to 6 degrees and the real-time pitch angle drops to 4 degrees. The instantaneous attitude deviation drops to 7.2 degrees, which is below the tolerance threshold of 15 degrees.

[0111] This embodiment acquires the real-time roll and pitch angles of the UAV relative to the horizontal plane and calculates the instantaneous attitude deviation. When the deviation exceeds a preset tolerance threshold, a pressure reduction adjustment process is triggered, using the attitude deviation caused by external disturbances as the basis for actively adjusting the water pressure. Compared to the technical shortcomings of existing technologies that maintain constant water pressure output when the UAV experiences significant attitude deviation due to airflow disturbances, resulting in reaction forces exacerbating attitude deterioration, this embodiment estimates the additional power consumption for attitude maintenance after detecting significant attitude deviation. While ensuring that the cleaning impact force is not lower than the material's corresponding threshold, the water pressure is optimally reduced from the current value towards the lower limit of the allowable water pressure. By actively reducing the water flow reaction force, the additional thrust burden required by the rotor to recover attitude is alleviated, achieving a moderate sacrifice of water pressure for rapid attitude recovery and avoiding the risk of attitude deviation continuously expanding until it becomes uncontrollable. Simultaneously, the pressure reduction optimization process uses the sum of the additional power consumption for attitude maintenance and the pumping power consumption as the optimization target, ensuring that the pressure reduction does not lead to a decrease in cleaning quality due to excessive sacrifice of water pressure, nor does it result in limited attitude recovery due to insufficient pressure reduction. A dynamic optimal balance is achieved between flight safety and cleaning quality.

[0112] Based on any of the above embodiments, in Embodiment Six of this application, before controlling the ground base station to output according to the target water pressure parameter, the following steps are included: Step S70: Obtain the current actual output water pressure value of the ground base station.

[0113] In this embodiment, the actual output water pressure value refers to the real-time water pressure measurement value at the output end of the high-pressure water supply system of the ground base station, which is collected by the pressure sensor installed in the output pipeline of the ground base station.

[0114] Optionally, the variable frequency water pump driver of the ground base station reads the voltage or current signal output by the pressure sensor installed in the output pipeline through its analog input interface. This analog signal is converted into a digital quantity by the analog-to-digital converter inside the driver, and then calibrated to obtain the physical quantity reading of the current actual output water pressure value. The base station controller of the ground base station encodes the actual output water pressure value into a water pressure feedback data frame and sends it to the UAV flight controller at a preset frequency through a wireless communication link. After receiving the data frame, the flight controller parses the actual output water pressure value P_actual from it and stores the value in a variable register.

[0115] Step S71: Calculate the water pressure change between the target water pressure parameter and the actual output water pressure value.

[0116] Optionally, the flight controller reads the dynamically adjusted target water pressure parameter P_target and the actual output water pressure value P_actual fed back from the ground base station from the variable register. The flight controller subtracts the actual output water pressure value from the target water pressure parameter to obtain the water pressure change ΔP. ΔP = P_target - P_actual; Specifically, a positive value of ΔP indicates that pressure needs to be increased, a negative value indicates that pressure needs to be decreased, and a zero value indicates that no adjustment is needed. The flight controller stores the calculated water pressure change ΔP in a variable register.

[0117] Step S72: Determine the reaction force change vector corresponding to the water pressure change, wherein the reaction force change vector describes the magnitude of the reaction force acting on the cleaning drone in the opposite direction along the water flow axis of the outlet.

[0118] In this embodiment, the reaction force change vector refers to the change in force vector applied to the UAV fuselage in the opposite direction to the water flow axis at the outlet due to water pressure changes, including magnitude and direction information.

[0119] Optionally, the flight controller reads the water pressure change ΔP from the variable register. The flight controller then calls a pre-calibrated reaction force-water pressure mapping function, which is based on the fluid momentum theorem and nozzle flow characteristics. The flight controller obtains the equivalent cross-sectional area parameter A and flow coefficient C_d of the current outlet. According to Bernoulli's equation, the relationship between the jet velocity v and the outlet water pressure P is v = C_d·√(2P / ρ), where ρ is the density of the cleaning fluid. The reaction force amplitude F_reaction is related to the jet velocity v and the mass flow rate H. m The relationship is F_reaction = H m ·v = ρ·A·v² = 2·C_d²·A·P. The flight controller calculates the reaction force amplitude F_current under the current water pressure and the reaction force amplitude F_target under the target water pressure according to this relationship, and the difference between the two is the change in reaction force amplitude ΔF: ΔF = F_target - F_current = 2·C_d²·A·ΔP Simultaneously, the flight controller obtains the target angle parameter θ of the current first rotating component from step S33. This angle parameter represents the deflection direction of the water flow axis at the outlet relative to the UAV's body coordinate system. Using this angle θ as the direction angle and the magnitude change of the reaction force ΔF as the modulus, the flight controller constructs a reaction force change vector F_vector = ΔF·(sinθ,cosθ), represented in the form of horizontal and vertical components in the UAV's body coordinate system. The flight controller stores F_vector in a variable register.

[0120] Step S73: Calculate the feedforward thrust compensation amount required by the rotor to counteract the reaction force based on the reaction force change vector.

[0121] In this embodiment, the feedforward thrust compensation amount refers to the correction amount that the flight controller pre-calculates and applies to the rotor thrust loop before the water pressure change command is executed, in order to offset the impact of the sudden change in reaction force on the attitude of the UAV during the transient process of water pressure change.

[0122] Optionally, the flight controller reads the horizontal component F_x and the vertical component F_z of the reaction force change vector F_vector from the variable register. Based on the current spatial arrangement geometry of each rotor and the preset rotor tilt angle, the flight controller establishes a mapping matrix between the reaction force change vector and the thrust increments of each rotor. This mapping matrix is ​​based on the following mechanical principle: the UAV has four rotors, the thrust direction of each rotor is along its thrust axis, and the horizontal and vertical components of the thrust vector of each rotor in the UAV's body coordinate system are determined by its tilt angle. The flight controller uses the horizontal and vertical components of the reaction force change vector as the demand force vector, and by solving the pseudo-inverse of the mapping matrix, distributes the demand force vector to the thrust increment commands ΔT_i of the four rotors, i=1,2,3,4. Each ΔT_i represents the thrust value that the corresponding rotor motor needs to increase or decrease to counteract the reaction force change. Based on the preset rotor thrust-speed mapping curve, the flight controller converts each thrust increment ΔT_i into a corresponding motor speed increment command ΔRPM_i. The flight controller then packages the four speed increment commands into a feedforward thrust compensation data packet and stores it in the buffer register.

[0123] Step S74: While sending the water pressure adjustment command to the ground base station, the feedforward thrust compensation is superimposed on the output of the flight attitude control loop of the cleaning drone, so that the thrust output of the rotor is adjusted synchronously with the water pressure change, thereby eliminating the transient attitude disturbance of the fuselage caused by the water pressure change.

[0124] In this embodiment, the flight attitude control loop refers to the closed-loop control link in the flight controller used to calculate the target rotational speed of each rotor, and its output is the speed setpoint register of each rotor motor. The feedforward thrust compensation is superimposed on the output of this loop, meaning the compensation is directly added to the speed setpoint calculated by the attitude control loop, rather than being used as an input to the attitude control loop to indirectly affect the output.

[0125] Optionally, the flight controller generates a water pressure regulation command frame, which includes the target water pressure parameter P_target and the regulation rate parameter. Simultaneously, the flight controller reads the feedforward thrust compensation data packet from the buffer register. The flight controller transmits the water pressure regulation command frame to the ground base station in the form of a wireless communication frame. Within the same control cycle—that is, at the same moment the command frame is transmitted or at an adjacent sampling moment—the flight controller superimposes the four speed increment commands ΔRPM_i from the feedforward thrust compensation onto the existing speed setpoints in the output register of the flight attitude control loop. The flight controller sends the superimposed final speed setpoints to the electronic speed controllers of each rotor motor. The electronic speed controllers drive the motors to rotate according to the received final speed setpoints, causing the rotor thrust to change synchronously within the same transient window when the outlet water pressure changes, thus offsetting the sudden change in reaction force caused by the water pressure change and eliminating transient attitude disturbances of the fuselage.

[0126] As an alternative implementation, the flight controller introduces a time synchronization compensation mechanism when superimposing the feedforward thrust compensation. The flight controller pre-acquires the response delay parameter T_pump of the ground base station's frequency converter pump and the transmission delay parameter T_com of the wireless communication link. The flight controller calculates the total delay time T_delay = T_com + T_pump between the issuance of the water pressure regulation command and the actual change in the reaction force. The flight controller delays the superposition time of the feedforward thrust compensation relative to the water pressure regulation command transmission time by T_delay, ensuring that the action time of the thrust compensation is precisely aligned with the actual change in the reaction force. This implementation, by introducing delay compensation, solves the problem of time misalignment between feedforward compensation and reaction force changes caused by communication link delay and pump response delay, thus improving the phase accuracy of the feedforward compensation.

[0127] For example, the flight controller parses the current actual output water pressure value P_actual from the data frame fed back by the ground base station, which is 6.5 MPa, and reads the target water pressure parameter P_target after dynamic adjustment in step S64 from the variable register, which is 4.2 MPa. The flight controller calculates the water pressure change ΔP = 4.2 - 6.5 = -2.3 MPa, with a negative value indicating that the pressure needs to be reduced. The flight controller obtains the current equivalent cross-sectional area A of the outlet as 3.14 square millimeters, the flow coefficient C_d as 0.82, and the cleaning fluid density ρ as 1000 kg per cubic meter, substitutes them into the reaction force and water pressure mapping function, and obtains the reaction force amplitude at the current 6.5 MPa as 2 × 0.82² × 3.14 × 10⁻⁶. -6 × 6.5×10 6 = 27.4 Newtons, the amplitude of the reaction force at the target of 4.2 MPa is 2 × 0.82² × 3.14 × 10 -6 × 4.2×106 = 17.7 Newtons, reaction force amplitude change ΔF = 17.7 - 27.4 = -9.7 Newtons. The flight controller reads the current first rotating component angle θ as 30 degrees and constructs the reaction force change vector F_vector = -9.7 × (sin30°, cos30°) = (-4.85, -8.40) Newtons, that is, a decrease of 4.85 Newtons in the horizontal direction pointing towards the curtain wall and a decrease of 8.40 Newtons in the vertical direction downward force. The flight controller uses these two reductions as the demand force vector and substitutes them into the pseudo-inverse matrix of the thrust distribution matrix of each rotor to calculate the speed increment commands of the four rotors as -240 rpm, +220 rpm, -230 rpm, and +210 rpm, respectively. While sending the water pressure adjustment command from 6.5 MPa to 4.2 MPa to the ground base station, the flight controller superimposes these four speed increment commands onto the speed setpoint at the output of the attitude control loop. The ground base station's variable frequency water pump began to reduce its output water pressure, thus decreasing the water flow reaction force. Simultaneously, the rotational speeds of the four rotors were adjusted synchronously downwards or upwards according to the feedforward compensation. The fuselage attitude angle remained stable during the adjustment process, and the roll angle did not exhibit transient fluctuations exceeding 2 degrees. If this feedforward compensation had not been applied, the reaction force would have suddenly decreased by 9.7 Newtons during the pressure reduction, causing the drone fuselage to accelerate towards the curtain wall due to force imbalance, accompanied by a sudden change in pitch angle of approximately 8 degrees. It would have required approximately 1.5 seconds of feedback adjustment to regain stability.

[0128] This embodiment calculates the water pressure change by obtaining the current actual output water pressure value of the ground base station and comparing it with the target water pressure parameter. Based on the fluid momentum theorem, the water pressure change is mapped into a reaction force change vector in the opposite direction of the water flow axis at the outlet. Then, based on the horizontal and vertical components of the reaction force change vector, the feedforward thrust compensation of each rotor is calculated through the inverse matrix of the rotor thrust distribution matrix. Finally, the compensation is synchronously superimposed on the output of the flight attitude control loop at the same time as the water pressure adjustment command is sent. Compared to existing technologies that first adjust water pressure and then passively correct attitude through feedback control after the attitude sensor detects the disturbance, this embodiment uses feedforward control to predict the impact of water pressure changes on attitude before they occur and simultaneously apply thrust compensation. This ensures that the rotor thrust output is strictly aligned with the water pressure change in time, fundamentally eliminating the physical cause of transient attitude disturbances caused by sudden changes in reaction force due to sudden changes in water pressure. It also avoids the unavoidable overshoot and oscillations caused by sensor sampling delay, filtering delay, and control calculation delay in feedback control. This achieves smooth and imperceptible attitude transitions during water pressure adjustment, significantly improving the safety and stability of high-altitude curtain wall cleaning operations.

[0129] Based on any of the above embodiments, in Embodiment Seven of this application, referring to Figure 2 The control methods for the cleaning system also include: Step S80: Determine the working tilt angle value based on the estimated cleaning reaction force corresponding to the water pressure parameters.

[0130] In this embodiment, the estimated cleaning reaction force refers to the force generated by the water jet on the UAV fuselage in the opposite direction of the jet direction, calculated based on the current water pressure parameters. The operating tilt angle refers to the angle between the thrust axis of each rotor and the target set in the vertical direction when the UAV is performing the cleaning operation, and this angle is greater than 0 degrees.

[0131] Optionally, the flight controller reads the current water pressure parameter P from the variable register. The flight controller obtains the equivalent cross-sectional area parameter A and flow coefficient C_d of the current outlet, and calculates the estimated cleaning reaction force amplitude F_reaction corresponding to the current water pressure based on Bernoulli's equation and the momentum theorem. F_reaction = 2·C_d²·A·P Based on the first rotating component angle parameter θ determined in step S30, the flight controller decomposes the estimated cleaning reaction force amplitude into a horizontal component and a vertical component along the UAV's coordinate system. The flight controller sets a horizontal force balance condition: the resultant horizontal force generated by the rotor to maintain the UAV hovering in front of the target working plane must be equal to the sum of the horizontal component of the estimated cleaning reaction force and a preset safety margin. Based on this horizontal force balance condition, and combined with the vertical force balance condition that the current total rotor thrust must be equal to the sum of gravity and the vertical component of the estimated cleaning reaction force, the flight controller establishes and solves a target equation for the rotor tilt angle, obtaining the working tilt angle value α_work that satisfies the force balance condition. The flight controller stores the calculated working tilt angle value α_work in a variable register.

[0132] As an alternative implementation, instead of determining the operational tilt angle by real-time solution of the force balance equation, the flight controller calls a pre-calibrated water pressure-operational tilt angle mapping table. This mapping table is pre-calibrated through ground test bench experiments. During the experiments, the optimal rotor tilt angle required to maintain stable hovering of the UAV under different water pressure values ​​is measured, and the water pressure values ​​and their corresponding optimal tilt angle values ​​are recorded in pairs to form the mapping table. The flight controller uses the current water pressure parameter P as the index key to look up the value in the mapping table. If the lookup matches, the corresponding operational tilt angle value is read directly; if the lookup does not match, the flight controller locates the two adjacent water pressure calibration points in the mapping table and calculates the operational tilt angle value corresponding to the current water pressure value through linear interpolation. This implementation reduces the online computational load on the airborne processor by replacing real-time solution with table lookup, making it suitable for scenarios where water pressure parameters change frequently but processor computing power is limited.

[0133] Step S81: If the cleaning drone is in the working segment, control the first angle of the rotor to adjust to the working tilt angle value.

[0134] Optionally, the flight controller reads the segment type label of the current segment from the path cache queue. If the segment type label is a work segment label, the flight controller determines that it is currently in a work segment.

[0135] The flight controller reads the operational tilt angle value α_work from the variable register. Using α_work as the target tilt angle value for each rotor, the flight controller generates corresponding tilt angle adjustment commands. These commands are converted into analog voltage signals or pulse width modulation signals by the digital-to-analog converter module and output to the tilt angle servo drive mechanisms located at the four rotor motor mounts. Each tilt angle servo drive mechanism drives its corresponding motor mount to rotate around its deflection axis according to the received signal until the deviation between the actual tilt angle value and the operational tilt angle value of each rotor is less than the preset tilt angle tolerance. After confirming that the tilt angle of each rotor is adjusted to the correct position, the flight controller maintains the tilt angle value unchanged until the current operational segment ends or the water pressure parameters change significantly.

[0136] Step S82: If the cleaning drone is in the turnaround section, control the first angle of the rotor to adjust to the cruise tilt angle value; the cruise tilt angle value is less than the working tilt angle value, wherein both the working tilt angle value and the cruise tilt angle value are greater than 0°.

[0137] In this embodiment, the cruise tilt angle refers to the angle between the thrust axes of each rotor and the vertical direction when the UAV is in a non-cleaning turnaround flight state. This angle is less than the operating tilt angle and greater than 0 degrees.

[0138] Optionally, the flight controller reads the segment type label of the current segment from the path cache queue. If the segment type label is a turnaround segment label, the flight controller determines that it is currently in a turnaround segment.

[0139] The flight controller reads the preset cruise tilt angle value α_cruise from non-volatile memory. α_cruise is a fixed value, greater than 0 degrees and less than the minimum value of the working tilt angle α_work calculated under any water pressure conditions. The flight controller uses α_cruise as the target tilt angle value for each rotor, generates corresponding tilt angle adjustment commands, and outputs them to the tilt angle servo drive mechanisms at the four rotor motor mounts via digital-to-analog conversion. These mechanisms drive each motor mount to deflect until the actual tilt angle value of each rotor equals the cruise tilt angle value. During the turnaround segment, the flight controller maintains the tilt angle of each rotor at the cruise tilt angle value until the current turnaround segment ends and the next working segment begins, at which point it switches back to the working tilt angle value.

[0140] For example, the flight controller reads the current water pressure parameter as 6.5 MPa. Substituting this into the formula for calculating the estimated cleaning reaction force, where the equivalent cross-sectional area A of the outlet is 3.14 square millimeters and the flow coefficient C_d is 0.82, the calculated F_reaction = 2 × 0.82² × 3.14 × 10⁻⁶-6 ×6.5×10 6 =27.4 Newtons. The current angle θ of the first rotating component is 30 degrees, and the estimated horizontal component of the cleaning reaction force is 27.4 × sin30° = 13.7 Newtons. Based on the horizontal force balance condition, the flight controller sets the resultant horizontal force of the rotor to be equal to the sum of 13.7 Newtons and the preset safety margin of 2 Newtons, which is 15.7 Newtons. Based on the vertical force balance condition, the total thrust of the rotor is set to be equal to the sum of the weight of the UAV (25 Newtons) and the vertical component of the reaction force (27.4 × cos30° ≈ 23.7 Newtons), which is 48.7 Newtons. Based on the horizontal and vertical thrust components of each rotor at the tilt angle α, the flight controller solves simultaneously to obtain the working tilt angle α_work, which is 18 degrees. The flight controller then reads the segment type label of the current flight segment, which is currently the first operational segment. The flight controller adjusts the tilt angle of each rotor from the initial cruise tilt angle of 5 degrees to 18 degrees. The tilt angle servo mechanism completes the deflection within 0.8 seconds, and each rotor generates sufficient horizontal thrust to resist the reaction force of the high-pressure water flow. The UAV hovers stably in front of the curtain wall to perform cleaning. After the first operational segment ends, the system switches to the turnaround segment. The flight controller returns the tilt angle of each rotor from 18 degrees to the cruise tilt angle of 5 degrees. During the turnaround segment, the horizontal component of the rotor force decreases, and the vertical lift efficiency increases. The UAV moves along the turnaround route to the starting point of the second operational segment with lower power consumption. During the turnaround, due to the reduced tilt angle, the useless power consumption corresponding to the horizontal component is reduced by approximately 25 watts.

[0141] This embodiment determines the operating tilt angle based on the estimated cleaning reaction force corresponding to the water pressure parameters, allowing the rotor tilt angle to dynamically adapt to the cleaning water pressure. Compared to the existing technology where the rotor tilt angle remains constant, this embodiment automatically increases the rotor tilt angle during high-pressure cleaning to generate a larger horizontal component force to resist the water flow reaction force. This avoids the defects of insufficient horizontal thrust causing the fuselage to be pushed away from the curtain wall by the reaction force or requiring a large tilt of the fuselage to maintain position. This allows the UAV to maintain positional stability with a smaller fuselage attitude deviation while hovering for cleaning, improving the alignment accuracy of the cleaning nozzle. At the same time, during the turnaround section where cleaning is not required, the rotor tilt angle is actively reduced to a cruise tilt angle value lower than the operating tilt angle value, reducing the ineffective thrust power consumption in the horizontal direction, improving the lift efficiency in the vertical direction, and reducing the flight energy consumption during the turnaround section. With both tilt angle values ​​greater than 0 degrees, the rotor does not need to swing at large angles between horizontal and vertical when switching between the working section and the turning section. It only needs to be adjusted within a small angle range, which shortens the tilt angle switching time, reduces the wear of the tilt angle servo mechanism, and improves the system response speed and the service life of the mechanism.

[0142] Based on any of the above embodiments, in Embodiment 8 of this application, the ground base station includes a multi-way valve, a pipeline venting device, and multiple liquid storage tanks; the multiple liquid storage tanks are used to store different types of cleaning media respectively, control the cleaning drone according to the length parameter, the angle parameter, and the cleaning path, and control the ground base station according to the water pressure parameter, so as to perform a cleaning task on the target working plane, including: Step S90: Send a liquid supply switching command to the ground base station and control the multi-way valve to switch the current liquid supply pipeline from the previous liquid supply type to the target liquid supply type corresponding to the liquid supply switching command.

[0143] In this embodiment, the multi-way valve refers to a switching valve installed inside the ground base station, connecting the output ends of multiple liquid storage tanks to the main liquid supply pipeline. It has a common outlet and multiple inlets, each inlet connected to a liquid storage tank of a different cleaning medium type. The liquid supply switching command refers to a control command sent by the flight controller to the ground base station, containing a target liquid supply type code. The previous liquid supply type refers to the cleaning medium type currently being supplied to the UAV. The target liquid supply type refers to the new cleaning medium type that needs to be supplied to the UAV after this switch.

[0144] Optionally, the flight controller generates a liquid supply switching command based on the type of cleaning medium required for the current operation phase. This command includes a target liquid supply type code field. The flight controller encodes the liquid supply switching command into a data frame and sends it to the base station controller at the ground base station via a wireless communication link. The base station controller receives and parses the data frame, extracting the target liquid supply type code from the command. The base station controller reads the valve position status register of the current multi-way valve and obtains the currently active liquid supply type code as the previous liquid supply type code. The base station controller compares the target liquid supply type code with the previous liquid supply type code; if they do not match, a switching operation is performed. The base station controller sends a rotation command to the stepper motor driver of the multi-way valve, driving the stepper motor to rotate the valve core to the valve position corresponding to the target liquid supply type code. After the stepper motor driver confirms through its encoder that the valve core has rotated to the target position, it returns a position confirmation signal to the base station controller. Upon receiving the position confirmation signal, the base station controller sends a liquid supply switching completion response frame to the flight controller, marking that the physical switching of the multi-way valve has been completed.

[0145] As an alternative implementation, the base station controller performs a pre-pressure reduction operation before driving the multi-way valve to switch. The base station controller obtains the real-time pressure value in the current liquid supply pipeline. If this pressure value is greater than a preset safe switching pressure threshold, the base station controller sends a pressure reduction command to the variable frequency water pump, controlling the pump to reduce its speed until the pipeline pressure drops below the safe switching pressure threshold. Then, it sends a rotation command to the stepper motor driver of the multi-way valve. This implementation, by proactively reducing the pipeline pressure before the multi-way valve operates, reduces the driving torque required for valve core rotation under high pressure, lowers the risk of stepper motor stall or valve core jamming, and avoids damage to the pipeline and seals caused by the severe pressure shock of high-pressure liquid at the moment of valve switching.

[0146] Step S91: Send a pipeline purging command to the ground base station to control the pipeline purging device to purge the cleaning medium of the previous liquid supply type remaining in the liquid supply pipeline until the type of cleaning medium flowing out of the pipeline end is detected to be consistent with the target liquid supply type.

[0147] In this embodiment, the pipeline evacuation device refers to an active evacuation actuator installed in the liquid supply pipeline of the ground base station. It discharges residual cleaning medium from the pipeline by introducing compressed gas into the pipeline or by using negative pressure extraction. The pipeline end refers to the outlet location in the liquid supply pipeline near the connection point between the tethered cable and the UAV. Evacuation processing refers to the operation of completely draining all residual cleaning medium from the previous type from the liquid supply pipeline and replacing it with cleaning medium of the target liquid supply type.

[0148] Optionally, after receiving a liquid supply switch completion response frame from the base station controller, the flight controller generates a pipeline purging command. This command includes the target liquid supply type code and a preset purging duration parameter. The flight controller encodes the pipeline purging command into a data frame and sends it to the base station controller at the ground base station via a wireless communication link. After receiving and parsing the data frame, the base station controller activates the pipeline purging device. The base station controller opens the compressed air source valve, introducing compressed gas at a preset pressure into the liquid supply pipeline. The compressed gas pushes the residual cleaning medium of the previous liquid supply type in the pipeline to flow towards the end of the pipeline and is discharged from the outlet or a dedicated purging port. Simultaneously, the base station controller controls the medium type detection sensor installed at the end of the pipeline to continuously detect the type of cleaning medium flowing through the sensor probe at a preset sampling frequency. The medium type detection sensor operates based on the principle of conductivity measurement or optical refractive index measurement. Its output signal is acquired by the analog-to-digital conversion module of the base station controller, and the base station controller calls the medium type recognition algorithm to convert the sensor signal into the type code of the currently flowing medium. The base station controller compares the detected medium type code with the target liquid supply type code in real time. When the detection results show that the medium type code matches the target liquid supply type code for a preset number of consecutive times, the base station controller determines that the purging process is complete, closes the compressed air source valve, stops the purging operation, and sends a purging completion response frame to the flight controller. After receiving the purging completion response frame, the flight controller sends a liquid supply recovery command to the ground base station, controls the variable frequency water pump to restart, and delivers the cleaning medium of the target liquid supply type to the UAV's outlet through the switched multi-way valve, the purged liquid supply pipeline, and the tethered cable.

[0149] As an alternative implementation, the base station controller does not rely on end-of-pipe sensors for real-time media type detection. Instead, it indirectly determines the timing of purging completion using a time integration method based on pipe volume and flow rate. The base station controller pre-stores the total volume parameter V_total within the supply pipeline, which encompasses the sum of the internal volumes of all pipes and tethered cables from the multi-way valve's common outlet to the pipeline end. After activating the purging device, the base station controller acquires the current compressed air source's output pressure and the equivalent flow area of ​​the pipeline, and calculates the current purging flow rate v_purge. Based on the ratio of the purging flow rate v_purge to the total pipeline volume V_total, the base station controller calculates the theoretical purging time T_purge = V_total / v_purge, and sets the actual purging time as the product of the theoretical purging time and a preset safety margin coefficient, T_actual = k_safe × T_purge, where k_safe is a preset safety margin coefficient greater than 1. The base station controller starts a timer, and when the actual purging time reaches T_actual, the base station controller determines that the purging process is complete. This implementation eliminates the need to install a medium type detection sensor at the end of the pipeline, reducing the hardware cost and maintenance complexity of the ground base station, and is suitable for cost-sensitive engineering scenarios.

[0150] For example, after completing detergent cleaning at one work area, the flight controller generates a liquid supply switching command with the target liquid supply type set to "clean water" based on the requirement of rinsing with clean water at the next work area, and sends it to the ground base station via a wireless link. The base station controller parses the command, reads the current valve position status, and confirms that the currently supplied liquid type is "neutral detergent." The base station controller sends a rotation command to the multi-way valve stepper motor driver, causing the stepper motor to drive the valve core to rotate 60 degrees from the detergent inlet position to the clean water inlet position. The encoder confirms the correct position and returns a response. The flight controller then sends a pipeline purging command to the base station, which opens the compressed air source valve, introducing 0.6 MPa compressed air into the liquid supply pipeline. A conductivity sensor installed near the connection point between the tethered cable and the UAV continuously samples at a frequency of 10 Hz. Initially, the sensor detects a high conductivity signal from the detergent; as the compressed air gradually expels the residual detergent, the conductivity signal continuously decreases. Approximately 8 seconds later, the conductivity signal dropped to the characteristic range of clean water and remained stable. After the base station controller collected five consecutive consistent results, it determined that the purging was complete, closed the air source valve, and returned to the purging completion response. Upon receiving the response, the flight controller sent a liquid supply recovery command to the base station. The variable frequency water pump restarted and delivered clean water through the multi-way valve and the purged pipeline to the outlet. At this point, the cleaning medium sprayed from the outlet had been completely switched to clean water, with no detergent residue mixed in, ensuring that no stripes or chemical residue stains would appear on the curtain wall surface due to detergent residue during subsequent rinsing processes.

[0151] This embodiment controls a multi-way valve to switch the liquid supply type by sending a liquid supply switching command to the ground base station. After switching, it sends a pipeline purging command to control the purging device to actively purge the residual cleaning medium of the previous liquid supply type in the liquid supply pipeline until the type of medium flowing out of the pipeline end is detected to be consistent with the target liquid supply type. Compared with the existing technology where different cleaning media share the same pipeline and the switching relies solely on the natural flushing of the new medium to replace the residual medium, this embodiment achieves thorough removal of residues in the pipeline through active purging with compressed gas. This avoids the problem of impurity of the medium caused by the long mixing section of the old and new media in the natural flushing method, and effectively prevents the precipitation, crystallization, or chemical side reactions caused by the mixing of different cleaning media due to differences in chemical compatibility in the pipeline, which can lead to blockage or corrosion damage to the pipeline and nozzles. By using real-time type detection from sensors at the end of the pipeline as the basis for determining the completion of purging, the accuracy and controllability of the purging endpoint are ensured. This avoids the target liquid type being contaminated by residual media due to insufficient purging, which would affect the cleaning quality. It also avoids excessive consumption of compressed gas and extended operation time due to excessive purging, thus achieving a balance between ensuring the purity of the liquid supply and operational efficiency during multi-media switching.

[0152] This application provides a control device for a cleaning system, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the control method of the cleaning system in the first embodiment described above.

[0153] The following is for reference. Figure 3 The diagram illustrates a structural schematic of a control device suitable for implementing the cleaning system of the embodiments of this application. The control device for the cleaning system in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, personal digital assistants (PDAs), tablets, and in-vehicle terminals, as well as fixed terminals such as digital TVs and desktop computers. Figure 3 The control device of the cleaning system shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0154] like Figure 3As shown, the control device of the cleaning system may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the control device of the cleaning system. The processing unit 1001, the read-only memory 1002, and the RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the control equipment of the cleaning system to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows control equipment for a cleaning system with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented or possessed alternatively.

[0155] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0156] The control device for the cleaning system provided in this application, employing the control method of the cleaning system in the above embodiments, can solve the technical problem of high power consumption caused by the use of open-source control algorithms in cleaning drones. Compared with the prior art, the beneficial effects of the control device for the cleaning system provided in this application are the same as those of the control device for the cleaning system provided in the above embodiments, and other technical features in the control device for this cleaning system are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0157] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0158] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0159] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the control method of the cleaning system in the above embodiments.

[0160] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, radio frequency (RF), or any suitable combination thereof.

[0161] The aforementioned computer-readable storage medium may be included in the control equipment of the cleaning system; or it may exist independently and not be assembled into the control equipment of the cleaning system.

[0162] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the control device of the cleaning system, cause the control device of the cleaning system to: determine the curtain wall material type and cleaning path in response to touch information received by the remote control module; control the cleaning drone to hover at the starting point corresponding to the cleaning path; determine the length parameter of the telescopic rod and the angle parameter of the first rotating component based on the cleaning parameters corresponding to the curtain wall material type and the relative distance between the starting point and the target working plane; determine the water pressure parameter of the ground base station based on the cleaning parameters; control the cleaning drone based on the length parameter, the angle parameter, and the cleaning path, and control the ground base station based on the water pressure parameter, so as to perform a cleaning task on the target working plane.

[0163] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0164] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation that may be implemented in systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0165] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0166] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the control method of the cleaning system described above. This solves the technical problem of high power consumption caused by the use of open-source control algorithms in cleaning drones. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the control method of the cleaning system provided in the above embodiments, and will not be repeated here.

[0167] This application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the control method for the cleaning system described above.

[0168] The computer program product provided in this application can solve the technical problem of high power consumption caused by the use of open-source control algorithms in cleaning drones. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the control method of the cleaning system provided in the above embodiments, and will not be repeated here.

[0169] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A control method for a cleaning system, characterized in that, The cleaning system includes a cleaning drone, a remote control module, and a ground base station. The cleaning drone is a quadcopter, and the rotors of the cleaning drone form a first angle with the plane of the drone body. The cleaning drone also includes a water outlet assembly, which includes a telescopic rod and a water outlet. The water outlet and the telescopic rod are connected by a first rotating assembly, which is used to adjust the angle of the water outlet relative to the drone body. The control method of the cleaning system includes: In response to the touch information received by the remote control module, the curtain wall material type and cleaning path are determined; Control the cleaning drone to hover at the starting point corresponding to the cleaning path; At the starting point, the measured distance between the drone body and the target working plane is obtained by the onboard distance sensor of the cleaning drone. Based on the type of curtain wall material, obtain the corresponding preset working gap and effective cleaning spray distance threshold; Using the measured distance as a constraint, a joint calculation model for the telescopic rod length and the angle of the first rotating component is constructed to solve for the length parameters of the telescopic rod and the angle parameters of the first rotating component. The joint calculation model satisfies the preset working gap as a position constraint, and the angle between the water flow axis of the outlet and the normal of the target working plane falls within the allowable angle range corresponding to the effective cleaning spray distance threshold as an attitude constraint. The optimization objective is to minimize the estimated power consumption of the cleaning drone in the hovering cleaning state. The output parameters are the length parameters of the telescopic rod and the angle parameters of the first rotating component. The estimated power consumption of the whole machine is determined at least based on the horizontal component force generated by the rotor to maintain the first angle, the center of gravity offset moment of the telescopic rod at the current extension length, and the estimated power consumption of the ground base station under the corresponding water pressure. The water pressure parameters of the ground base station are determined based on the cleaning parameters. The cleaning drone is controlled according to the length parameter, the angle parameter, and the cleaning path, and the ground base station is controlled according to the water pressure parameter, so as to perform cleaning tasks on the target working plane.

2. The control method for the cleaning system as described in claim 1, characterized in that, Determining the water pressure parameters of the ground base station based on the cleaning parameters includes: Obtain the cleaning impact force threshold corresponding to the curtain wall material type; Obtain the target travel speed corresponding to the cleaning path; Based on the cleaning impact force threshold and the target travel speed, the water pressure velocity matching model is invoked to determine the reference water pressure; the water pressure velocity matching model is used to determine the negative correlation mapping relationship between the target travel speed and the reference water pressure output by the ground base station under the constraint that the water flow impact force sprayed from the outlet to the target working plane is not lower than the cleaning impact force threshold. Using the reference water pressure as the lower limit constraint, within the preset water pressure adjustment range, the joint optimization model for water pressure reaction force power consumption is invoked. The joint optimization model uses the cleaning impact force corresponding to the reference water pressure as the lower limit constraint, and takes the sum of the estimated thrust power consumption required by the rotor at the first angle to offset the reaction force generated by different water pressures and the estimated pumping power consumption of the ground base station at the corresponding water pressure as the objective function to solve for the water pressure parameters that minimize the total cleaning-related power consumption.

3. The control method for the cleaning system as described in claim 1, characterized in that, The step of controlling the cleaning drone based on the length parameter, the angle parameter, and the cleaning path, and controlling the ground base station based on the water pressure parameter, to perform a cleaning task on the target work plane, includes: The cleaning path is discretized into a path sequence consisting of alternating work segments and turnaround segments; If the operation is in the specified section, control the telescopic rod to extend to the target length corresponding to the length parameter, control the first rotating component to adjust to the target angle corresponding to the angle parameter, and control the ground base station to output the target water pressure corresponding to the water pressure parameter in order to perform the cleaning task; If the device is in the reversal section, control the telescopic rod to retract to its minimum length, control the first rotating component to reset to the storage angle, and close the water outlet to reduce the power consumption of the reversal.

4. The control method for the cleaning system as described in claim 1, characterized in that, After controlling the cleaning drone according to the length parameter, the angle parameter, and the cleaning path, and controlling the ground base station according to the water pressure parameter to perform a cleaning task on the target work plane, the process includes: Obtain the real-time roll angle and real-time pitch angle of the cleaning drone relative to the horizontal plane; The instantaneous attitude offset of the cleaning drone is calculated based on the real-time roll angle and real-time pitch angle. Determine whether the instantaneous attitude offset exceeds a preset attitude offset tolerance threshold; If it exceeds the limit, then based on the instantaneous attitude offset, estimate the additional power consumption for attitude maintenance corresponding to the current attitude offset; Based on the water pressure parameters, within the pressure reduction optimization range formed by the allowable lower limit of water pressure determined by the cleaning impact force threshold corresponding to the curtain wall material type and the current water pressure parameters, the target water pressure parameters after dynamic adjustment are calculated with the sum of the additional power consumption of the posture maintenance and the estimated pumping power consumption of the ground base station as the optimization target. The ground base station is controlled to output according to the target water pressure parameters.

5. The control method for the cleaning system as described in claim 1, characterized in that, Before controlling the ground base station to output according to the target water pressure parameters, the following steps are included: Obtain the current actual output water pressure value of the ground base station; Calculate the water pressure change between the target water pressure parameter and the actual output water pressure value; Determine the reaction force change vector corresponding to the water pressure change, wherein the reaction force change vector describes the magnitude of the reaction force acting on the cleaning drone in the opposite direction along the water flow axis of the outlet; Based on the reaction force change vector, calculate the feedforward thrust compensation amount required by the rotor to counteract the reaction force; While sending the water pressure adjustment command to the ground base station, the feedforward thrust compensation is superimposed on the output of the flight attitude control loop of the cleaning drone, so that the thrust output of the rotor is adjusted synchronously with the water pressure change, thereby eliminating the transient attitude disturbance of the fuselage caused by the water pressure change.

6. The control method for the cleaning system as described in claim 1, characterized in that, The control method for the cleaning system further includes: The operating tilt angle value is determined based on the estimated cleaning reaction force corresponding to the water pressure parameters. If the cleaning drone is in the working phase, control the first angle of the rotor to adjust to the working tilt angle value; If the cleaning drone is in the turnaround phase, the first angle of the rotor is adjusted to the cruise tilt angle value; the cruise tilt angle value is less than the operating tilt angle value, wherein both the operating tilt angle value and the cruise tilt angle value are greater than 0°.

7. The control method for the cleaning system as described in claim 1, characterized in that, The ground base station includes a multi-way valve, a pipeline venting device, and multiple liquid storage tanks; the multiple liquid storage tanks are used to store different types of cleaning media respectively. After controlling the cleaning drone according to the length parameter, the angle parameter, and the cleaning path, and controlling the ground base station according to the water pressure parameter to perform the cleaning task on the target work plane, the process includes: Send a liquid supply switching command to the ground base station to control the multi-way valve to switch the current liquid supply pipeline from the previous liquid supply type to the target liquid supply type corresponding to the liquid supply switching command; A pipeline purging command is sent to the ground base station to control the pipeline purging device to purge the cleaning medium of the previous liquid supply type remaining in the liquid supply pipeline until the type of cleaning medium flowing out of the pipeline end is detected to be consistent with the target liquid supply type.

8. A control device for a cleaning system, characterized in that, The control device of the cleaning system includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method of the cleaning system as described in any one of claims 1 to 7.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the control method of the cleaning system as described in any one of claims 1 to 7.

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